KR20240139783A - Device for heaving motion - Google Patents

Abstract

The present invention relates to a vertical rocking device, comprising: a plurality of frames configured in a rectangular parallelepiped shape; an experimental platform on which a test subject is mounted is arranged inside the rectangular parallelepiped shape; and a support section on one side of the rectangular parallelepiped shape having a ladder that can be used by a worker;
It is characterized by including: a driving unit that drives the experimental platform up and down through pulleys installed at the top, middle, and bottom of the support and a plurality of wires connected to the pulleys; and a controller that controls a plurality of pulleys and a servo motor constituting the driving unit when driving the driving unit up and down to change the position of the experimental platform.

Description

Device for heaving motion

The present invention relates to a heaving device, and more particularly, to a device that simulates heaving among the vibrations that may occur under marine conditions and applies it to an experimental platform on which a test subject is mounted.

A motion platform is a device that can indirectly measure the effect of a motion on an object by applying motion that can occur under certain conditions to the object. Motion platform technology is a technology that is in the spotlight in the gaming, various industrial, and defense fields, and is currently being actively used in various experimental fields.

In particular, experiments in the marine field are difficult to conduct under real conditions, and a single experiment requires a lot of cost, so a lot of effort is needed to construct an experimental platform in an environment that is as similar to real conditions as possible.

Conventional experimental platforms, as presented in 'Korean Patent Registration No. 10-2402385', transfer the rotational power of the rolling motor to the frictional force between the driving roller and the support ball, and then to the frictional force between the support ball and the platform. Although the conventional technology has disclosed a structure that offsets the gravity load by installing a gravity compensation device, it has the problem that it does not effectively offset the gravity load, and the structure and control are complicated due to the use of expensive equipment.

Korean Patent Publication No. 10-2402385 (Published on May 27, 2022) Korean Patent Publication No. 10-2018-0133117 (published on December 13, 2018)

The present invention has been proposed to solve the problems of the prior art, and the task that the present invention solves is to provide a movement that simulates the heaving that can occur under marine conditions to an experimental platform on which a test subject is mounted.

In addition, the problem that the present invention seeks to solve is to provide a structure that controls the experimental platform more stably and precisely by transmitting power generated from a servo motor to the experimental platform in a double drum manner.

In addition, the problem that the present invention seeks to solve is to offset the dynamic load and provide a smaller operating load compared to the same movement by designing a balance weight when the driving part moves up and down.

The technical problems of the present invention are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

In order to achieve the above purpose, the vertical rocking device according to the present invention is characterized by including: a support section in which a plurality of frames are configured in a rectangular parallelepiped shape, an experimental platform having a test subject mounted thereon is arranged inside the rectangular parallelepiped shape, and a ladder that can be used by a worker is provided on one side of the rectangular parallelepiped shape; a driving section for driving the experimental platform up and down through pulleys installed at the upper, middle, and lower ends of the support section and a plurality of wires connected to the pulleys; and a controller for controlling a plurality of pulleys and a servo motor constituting the driving section when driving the driving section up and down to change the position of the experimental platform.

In addition, the support member is characterized by including a staircase arranged on one side of the rectangular parallelepiped shape and serving as a means for a worker to climb to the top of the support member; a ladder supporter attached to a lower side of the rectangular parallelepiped shape and connecting the lower end of the staircase and the ground; a guide supporter positioned on the top of the staircase and attached to one side of the rectangular parallelepiped shape, the guide supporter being composed of a plate extended in a direction parallel to the ground; and a guide formed in the shape of a plurality of rods on the top of the guide supporter to prevent the worker from falling.

In addition, the driving unit is characterized by including: an upper pulley attached to the upper end and one side of the upper portion of the rectangular parallelepiped shape and maintaining tension in a wire wound around a plurality of winches; a double drum portion fixed to the upper end of the rectangular parallelepiped shape and connected to the upper pulley via a first wire to transmit power generated by the servo motor to the upper pulley; a central pulley attached to one side of the rectangular parallelepiped shape and connected to the double drum portion via the fourth wire to maintain tension in the fourth wire; a first lower pulley provided at the lower portion of the rectangular parallelepiped shape and connecting the fourth wire coming down from the central pulley to the lower portion of the experimental platform while maintaining tension in the fourth wire; and a second lower pulley.

In addition, the driving unit is characterized by further including a balance weight formed on one side of the rectangular parallelepiped shape and driven in a direction opposite to the driving direction of the experimental platform while being connected to the upper pulley and the experimental platform by a wire.

In addition, a first wire connected to the double drum portion and a second wire and a third wire connected to the counterweight, respectively, are attached to the upper part of the experimental platform, and a fourth wire is attached to the lower part of the experimental platform, which is sequentially connected to the double drum portion, the first lower pulley, and the second lower pulley, and the controller is characterized in that it controls the position of the experimental platform.

In addition, the double drum part is characterized by including: a servo motor that generates power; a reducer connected to the servo motor and capable of amplifying torque according to a gear ratio; a first double drum connected to the reducer and having the first wire connected to the upper pulley wound around it to transmit power generated from the servo motor; and a second double drum connected to the first double drum by a double drum connecting gear and having the fourth wire connected to the central pulley wound around it to change power transmitted to the fourth wire.

A heaving device according to one embodiment of the present invention has the effect of being able to impart a movement simulating heaving that can occur under marine conditions to an experimental platform on which a test subject is mounted.

In addition, the up-and-down swing device according to one embodiment of the present invention has the effect of constructing a structure that controls the experimental platform more stably and precisely by transmitting power generated from a servo motor to the experimental platform in a double drum manner.

According to one embodiment of the present invention, the up-and-down rocking device has the effect of being able to offset dynamic loads and form a smaller operating load compared to the same movement by designing a balance weight when the driving unit is up-and-down rocked.

In addition, according to the present invention, the structure is simple and no expensive equipment is used, so cost efficiency can be improved.

Figure 1 is a perspective view and an enlarged view of the entire configuration of a vertical swing device according to the present invention.
Figure 2 is a side view of the up-and-down swing device according to the present invention.
Figure 3 is an enlarged view of the upper pulley of the vertical oscillation device according to the present invention.
Figure 4 is an enlarged view of the balance weight of the up-and-down swing device according to the present invention.
Figure 5 is an enlarged view of the lower winch of the up-and-down swing device according to the present invention.
Figure 6 is an enlarged view of the sensor and limiter of the up-and-down swing device according to the present invention.

In describing embodiments of the present invention, if it is judged that a detailed description of a known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. In addition, the terms described below are terms defined in consideration of their functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, the definitions should be made based on the contents throughout this specification. The terms used in the detailed description are only for describing embodiments of the present invention, and should never be construed as limiting. Unless clearly used otherwise, the singular form includes the plural form. In this description, expressions such as "comprises" or "comprising" are intended to indicate certain features, numbers, steps, operations, elements, parts or combinations thereof, and should not be construed as excluding the presence or possibility of one or more other features, numbers, steps, operations, elements, parts or combinations thereof other than those described.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The following detailed description is provided to help a comprehensive understanding of the methods, devices, and/or systems described herein. However, this is only an example, and the present invention is not limited thereto. Hereinafter, preferred embodiments according to the present invention will be described with reference to the attached drawings.

Figure 1 shows a perspective view and an enlarged view of the entire configuration of the up-and-down swing device according to the present invention, and Figure 2 shows a side view of the up-and-down swing device.

The up-and-down swing device according to the present invention is largely composed of a support member (100) and a driving member (200). As shown in FIG. 2, the support member (100) may be composed of a lower frame (101) formed relatively lower while in contact with the ground, and an upper frame (102) formed on the upper end of the lower frame (101). The lower frame (101) and the upper frame (102) may be composed of a plurality of frames in a rectangular solid shape, and an experimental platform (260) on which a test subject is mounted may be placed inside the rectangular solid shape. The lower frame (101) and the upper frame (102) may be composed of a beam-shaped frame whose upper surface, lower surface, and side surfaces are not sealed.

The support member (100) is provided with a support frame (121) that assists the support member (100) on one side as shown in FIG. 2, thereby increasing the strength of the support member (100) and alleviating vibrations and shocks that may occur from the up-and-down swing device.

The support member (100) may be provided with a ladder member (110) on one side as shown in FIG. 2. The ladder member (110) may be formed on the side of the lower frame (101) and the upper frame (102) in the shape of a rectangular solid. Specifically, a stair (111) configured in a step shape may be provided to provide a structure that allows a worker to climb up and down from the ground to the lower frame (101) or the upper frame (102) of the support member (100).

A ladder supporter (112) may be provided at the bottom of the above-mentioned stair (111). The ladder supporter (112) is attached to one side of the lower portion of a rectangular solid shape and serves to connect the bottom of the stair and the ground. The height of the ladder supporter (112) is not particularly fixed, and depending on the situation, the worker can adjust the point where it is installed on one side of the lower frame (101). The ladder supporter (112), like the support frame (121), also serves to increase the structural stability of the support part (100) against vibrations and shocks generated from the up-and-down swing device.

A guide supporter (113) attached to one side of the lower frame (101) of the support member (100) may be provided at the upper end of the stair (111). The guide supporter (113) is positioned at the upper end of the stair (111) and is composed of a plate that extends in a direction parallel to the ground, and serves to firmly secure the stair (111) to the support member (100) together with the ladder supporter (112). Meanwhile, the guide supporter (113) is not necessarily formed at one side of the lower frame (101), and may be formed at one side of the upper frame (102) depending on the length of the stair (111).

A guide (114) configured in the form of multiple rods may be provided at the top of the above guide supporter (113). The guide (114) serves to prevent a worker who has climbed up onto the guide supporter (113) via the stair (111) from falling.

At the center of the support member (100), an experimental platform (260) for loading a test specimen may be provided as shown in Fig. 2. The experimental platform (260) is generally capable of loading up to 650 kg, but of course, the weight may vary depending on the performance of the upper pulley (210), double drum member (230), and balance weight (241) of the driving member (200).

A first wire (221), a second wire (222), and a third wire (223) may be attached to the top of the experimental platform (260). In addition, a fourth wire (224) may be attached to the bottom of the experimental platform (260).

The first wire (221) attached to the top of the experimental platform (260) is connected to the first winch (211) of the upper pulley (210) and can be wound around the first double drum (231) of the double drum section (230). The first double drum (231) is connected to the servo motor (235), which is the power source of the up-and-down swing device, and transmits the power generated from the servo motor (235) to the experimental platform (260) through the first wire (221), which will be described in detail later.

The first winch (211) of the upper pulley (210) serves to maintain the tension of the first wire (221) formed by the first double drum (231). In addition, the first winch (211) serves as a medium that converts the rotational motion of the first double drum (231) connected to the servo motor (235) through the first wire (221) into the vertical motion of the experimental platform (260).

The second winch (212) and the third winch (213) may be positioned on the same frame as the frame on which the first winch (211) is installed. The second winch (212) may be coupled with a second wire (222), and the third winch (213) may be coupled with a third wire (223). The second wire (222) and the third wire (223) may be connected to the upper end of the counterweight (241) to maintain tension. The positional relationship of the counterweight (241) may change depending on the elevation of the experimental platform (260). Here, as illustrated in FIG. 4, in order to more stably maintain the tension applied to the wire, a winch may be additionally installed on one side of the upper frame (102). According to one embodiment of the invention, a fourth winch (214) and a fifth winch (215) may be installed, and the second wire (222) may be connected to the balance weight (241) through the fourth winch (214), and the third wire (223) may be connected to the fifth winch (215).

The second wire (222) and the third wire (223) may be connected to the upper end of the experimental platform (260) via the second winch (212) and the third winch (213), respectively. The second winch (212) and the third winch (213) may move the experimental platform (260) vertically upward or downward together with the first wire (221) connected to the first winch (211) described above. At this time, the first wire (221), the second wire (222), and the third wire (223) connected to the experimental platform (260) may be connected in a straight line as illustrated in the drawing, or may be connected to various other positions to efficiently drive the experimental platform (260). In addition, the first winch (211), the second winch (212), the third winch (213), the fourth winch (214), and the fifth winch (215) described above can be connected to the experimental platform (260) while minimizing the tension loss of the first wire (221), the second wire (222), and the third wire (223) by linking with the controller. Likewise, the elevating speed of the experimental platform (260) can also be controlled by the controller linked with the first winch (211), the second winch (212), the third winch (213), the fourth winch (214), and the fifth winch (215). That is, it is preferable to understand that the controller according to the present invention can control the winches connected by the servo motor by controlling the servo motor, and that the controller controls the winches by controlling the servo motor.

As illustrated in FIG. 4, the counterweight (241) is connected to the upper end by the second wire (222) and the third wire (223) so that it can move relatively according to the elevation of the experimental platform. This serves to reduce the dynamic load of the up-and-down swing device that the driving unit (200) must bear when the experimental platform (260) is elevated. That is, when the experimental platform (260) is about to rise, the counterweight (241) is lowered downward by the second wire (222) and the third wire (223), and the reaction force against the gravity acting on the counterweight (241) can be applied to the experimental platform (260). Specifically, as the counterweight (241) is lowered, the second wire (222) and the third wire (223) connected to the experimental platform (260) serve to pull the experimental platform (260) vertically upward. Accordingly, the experimental platform (260) can be raised with a much smaller dynamic load than when there is no counterweight (241), and thus the servo motor (235) that supplies power to the experimental platform (260) through the first wire (221) can be driven with a smaller load. In addition, when the experimental platform (260) is lowered, the tension formed in the first wire (221) can be reduced so that the experimental platform (260) can be naturally lowered by gravity acting on the experimental platform (260). At this time, the second wire (222) and the third wire (223) connected to the upper end of the experimental platform (260) can also move downward to naturally position the counterweight (241) above the experimental platform (260).

In addition, according to one embodiment of the invention, the balance weight (241) may be provided with a guard (242) at the bottom, as shown in FIG. 4. The guard (242) may be utilized as a means for protecting the balance weight (241) from impact that may occur during operation of the balance weight (241). At this time, the guard (242) may be provided with a first guide rail (245) and a second guide rail (246) penetrating the guard (242) on both sides. In addition, the first guide rail (245) and the second guide rail (246) may be fixed to the lower frame (101) or the upper frame (102) of the support member (100) by the first connecting member (243) and the second connecting member (244), respectively. The first guide rail (245) and the second guide rail (246) prevent the guard (242) from coming off when moving up and down, and further serve to guide the up and down movement of the balance weight (241).

In this way, the balance weight (241) moves simultaneously with the experimental platform (260), but moves in opposite directions to reduce the dynamic load of the experimental platform (260). In addition, a fourth wire (224) may be connected to the second double drum (233) located at the top of the experimental platform (260) through the first lower pulley (252) and the second lower pulley (253) at the bottom of the experimental platform (260).

This is a structure corresponding to transmitting power from the power source, the servo motor (235), to the upper part of the experimental platform (260) through the first double drum (231) to the first wire (221). That is, power is transmitted from the power source, the servo motor (235), to the lower part of the experimental platform (260) through the second double drum (233) to the fourth wire (224). By controlling the lifting movement of the experimental platform (260) through the two routes described above, the operator can drive the up-and-down swing device more stably. The power source, the servo motor (235), the first double drum (231), and the second double drum (233) are linked to the controller, just like the winches located at the upper part of the experimental platform (260), and the operator can sufficiently control the lifting of the experimental platform (260) through a mobile phone or other terminal connected to the controller. Additionally, it can be controlled by a PC such as a laptop or desktop connected to the controller, and is not limited to a single control means or method.

The first lower pulley (252) and the second lower pulley (253) serve to maintain the tension of the connected fourth wire (224), and the lower pulley body (254) is connected to the controller so that the tension of the fourth wire (224) can be adjusted by the lower pulley body (254). In addition, as illustrated in FIG. 2, a central pulley (251) may be provided on the central side of the support member (100). The central pulley (251) maintains the tension of the fourth wire (224) that extends vertically from the second double drum (233) to the first lower pulley (252), and allows the fourth wire (224) to move while minimizing friction. The central pulley (251) is also linked to the controller so that the operator can control the experimental platform (260) through the fourth wire (224) when raising and lowering the experimental platform (260).

A double drum part (230) may be provided at the upper end of the upper frame (102) of the support part (100) close to the guide (114). The double drum part (230) may be composed of a first double drum (231), a second double drum (233), a double drum connecting gear (232), a reducer (234), and a servo motor (235).

The servo motor (235) is a power source of the up-and-down motion device and enables the driving unit (200) to move up and down. The servo motor (235) can be connected to a reducer (234) as shown in FIG. 3, and the reducer amplifies the power generated from the servo motor (235) according to the gear ratio. The reducer used in the present invention is 1/6, but is not necessarily limited thereto, and may be adaptively determined according to the size and weight of the experimental platform (260).

The reducer (234) can amplify the power generated from the servo motor (235) and simultaneously transmit it to the first double drum (231). The first double drum (231) is provided with a structure capable of winding a wire on its body, so that the first wire (221) can be wound, and a gear capable of transmitting power to the double drum connecting gear (232) can be provided at the end. The first double drum (231) can transmit power to the top of the experimental platform (260) through the first wire (221). The gear installed at the end of the first double drum (231) can transmit power generated from the servo motor (235) to the second double drum (233) through the double drum connecting gear (232).

The second double drum (233) can be installed on one side of the first double drum (231), and has a gear on one side that meshes with the double drum connecting gear (232). In addition, a fourth wire (224) connected to the lower end of the experimental platform (260) can be wound around the body of the second double drum (233), and power generated from the first double drum (231) can be transmitted to the lower end of the experimental platform (260) through the fourth wire (224). In addition, the first double drum (231), the double drum connecting gear (232), and the second double drum (233) require the same gear ratio in order to synchronize the up-and-down movement between the first wire and the fourth wire.

In addition, the servo motor (235), reducer (234), first double drum (231), and second double drum (233) are linked to the controller so that the operator can control the speed and tension, etc. in real time through a terminal connected to the controller.

A safety system may be installed in the up-and-down oscillation device as shown in Fig. 6. An upper proximity sensor (104) may be attached to one side of the lower frame (101) at the bottom of the guide supporter (113). In addition, a central proximity sensor (103) may be installed near the central pulley (251) at one side of the center of the lower frame (101), and a lower proximity sensor (105) may be attached to one side of the lower frame (102).

A limiter is installed on the lower side of the experimental platform (260), and whenever it passes near the central proximity sensor (103), the central proximity sensor (103) can transmit a signal that is reflected by the limiter and returned to the controller. The signal can be transmitted to a terminal connected to the controller, so that the operator can recognize whether the experimental platform (260) passes the central proximity sensor (103) safely and repeatedly. That is, under the normal lifting and lowering movement of the experimental platform (260), the upper proximity sensor (104) and the lower proximity sensor (105) are not activated, and only the central proximity sensor (103) is activated to exchange signals with the controller.

If the above experimental platform (260) gradually increases in error value or temporarily moves beyond the normal operating range, the limiter may approach or pass through the upper proximity sensor (104) and the lower proximity sensor (105). Therefore, in the above situation, the upper proximity sensor (104) and the lower proximity sensor (105) may be activated, and the controller receives a passing signal from the upper proximity sensor (104) or the lower proximity sensor (105). Once the upper proximity sensor (104) or the lower proximity sensor (105) is activated, the controller prevents departure from the operating range by stopping the driving unit (200), and when the upper proximity sensor (104) is activated, the upward command is not executed and only the downward command is executed. Similarly, when the lower proximity sensor (105) is activated, the downward command is not executed and only the upward command is executed. At this time, the power supply to the servo motor is maintained to prevent loss of the winding force of the servo motor.

If the above experimental platform (260) is stopped momentarily while running at high speed, the experimental platform (260) and a number of wires are exposed to high acceleration, and the soundness and reliability of the up-and-down swing device may be damaged. Therefore, if the experimental platform (260) is stopped by the controller as described above, or if the controller stops the experimental platform (260) upon receiving a stop command from the operator, the stop may be made at the bottom of the lower frame (101) or the top of the upper frame (102), which is the point where the instantaneous speed becomes 0.

In addition, the upper pulley (210), the central pulley (251), and the lower pulley body (254) can maintain the tension of the wire and prevent vibration or wire detachment caused by the high-speed moving wire in the double drum section (230), the balance weight (241), and multiple winches.

Although the present invention has been described above with reference to various embodiments, it is not limited thereto, and anything that can be reasonably interpreted from the scope of the rights of the present invention is naturally included in the scope of the rights of the present invention.

Meanwhile, the present specification and drawings have disclosed preferred embodiments of the present invention, and although specific terms have been used, they have been used only in a general sense to easily explain the technical contents of the present invention and to help understand the invention, and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other modified examples based on the technical idea of the present invention can be implemented in addition to the embodiments disclosed herein.

100 : Support 101 : Subframe
102: Upper frame 103: Central proximity sensor
104: Upper proximity sensor 105: Lower proximity sensor
110: Ladder 111: Stair
112: Ladder Supporter 113: Guide Supporter
114 : Guide 121 : Support Frame
200 : Drive unit 210 : Upper pulley
211: 1st winch 212: 2nd winch
213: 3rd winch 214: 4th winch
215: 5th winch 221: 1st wire
222: 2nd wire 223: 3rd wire
224: 4th Wire
230: Double drum section 231: 1st double drum
232: Double drum connecting gear 233: Second double drum
234: Reducer 235: Servo motor
236: Vertical plate 237: Fixed plate
241: Balance weight 242: Guard
243: First connecting member 244: Second connecting member
245: 1st guide rail 246: 2nd guide rail
251: Central pulley 252: First lower pulley
253: Second lower pulley 254: Lower pulley body
260 : Experimental Platform

Claims (6)

A plurality of frames are configured in a rectangular parallelepiped shape, an experimental platform having a test subject mounted thereon is placed inside the rectangular parallelepiped shape, and a support section having a ladder that can be used by a worker is provided on one side of the rectangular parallelepiped shape;
A driving unit that drives the experimental platform up and down through pulleys installed at the top, middle, and bottom of the support and a plurality of wires connected to the pulleys; and
A vertical rocking device characterized by including a controller that controls a plurality of pulleys and servo motors constituting the driving unit to change the position of the experimental platform when driving the driving unit up and down.
In paragraph 1,
The above support member,
A staircase arranged on one side of the rectangular solid shape and serving as a means for a worker to climb to the top of the support;
A ladder supporter attached to one side of the lower portion of the rectangular solid shape and connecting the lower end of the stair and the ground;
A guide supporter positioned at the top of the above staircase and attached to one side of the rectangular parallelepiped shape, the guide supporter being composed of a plate extended in a direction parallel to the ground; and
A vertical swing device characterized by including a guide configured in the shape of multiple rods on the upper part of the guide supporter to prevent the worker from falling.
In paragraph 1,
The above driving part,
An upper pulley attached to the upper side and upper side of the rectangular parallelepiped shape and maintaining tension on wires wound on a plurality of winches;
A double drum part fixed to the upper part of the rectangular solid shape and connected to the upper pulley by a first wire to transmit power generated by the servo motor to the upper pulley;
A central pulley attached to one side of the rectangular solid shape and connected to the double drum portion and the fourth wire to maintain the tension of the fourth wire;
A vertical rocking device characterized by including a first lower pulley which is provided at the lower part of the rectangular parallelepiped shape and connects the fourth wire coming down from the central pulley to the lower part of the experimental platform while maintaining the tension of the fourth wire; and a second lower pulley.
In the third paragraph,
The above driving part,
A vertical rocking device characterized by further including a balance weight formed on one side of the rectangular parallelepiped shape and driven in a direction opposite to the driving direction of the experimental platform while connected to the upper pulley and the experimental platform by a wire.
In paragraph 4,
On top of the above experimental platform,
The first wire connected to the above double drum section and
A second wire and a third wire, each connected to the above balance weight, are attached,
At the bottom of the above experimental platform,
A fourth wire is attached, which is sequentially connected to the above double drum section, the first lower pulley, and the second lower pulley.
A vertical rocking device characterized in that the above controller controls the position of the above experimental platform.
In the third paragraph,
The above double drum part,
A servo motor that generates power;
A reducer connected to the above servo motor and capable of amplifying torque according to the gear ratio;
A first double drum connected to the above reducer and the upper pulley, the first wire being wound around which transmits power generated from the servo motor;
A vertical oscillation device characterized by including a second double drum connected to the first double drum and the double drum connecting gear, and in which the fourth wire connected to the central pulley is wound to change the power transmitted to the fourth wire.