To suppress swirling and translation of suspended loads.SOLUTION: An attitude control device for suspended loads includes, a suspension jig for suspending a suspended load in a first direction, and a turning restraining means for restraining turning of the suspension jig that is installed on the suspension jig and that is centered on the center point of the suspension jig as viewed in the first direction. The attitude control device for suspended load includes first to fourth thruster groups installed on the suspension jig. The first thruster group is arranged such that the direction of the resultant force of the thruster thrust generated from the thrusters constituting the first thruster group coincides with one direction of a first virtual straight line, while the second thruster group is arranged such that the direction of the resultant force of the thruster thrust generated from the thrusters constituting the second thruster group coincides with the other direction of the first virtual straight line. The third thruster group is arranged such that the direction of the resultant force of the thruster thrust generated from the thrusters constituting the third thruster group coincides with one direction of a second virtual straight line, while the fourth thruster group is arranged such that the direction of the resultant force of the thruster thrust generated from the thrusters constituting the fourth thruster group coincides with the other direction of the second virtual straight line.SELECTED DRAWING: Figure 1
【課題】吊荷の旋回および並進を抑制する。【解決手段】吊荷の姿勢制御装置は、第1の方向に吊荷を吊り下げるための吊治具と、吊治具に設置され、第1の方向視での吊治具の中心点を中心とする吊治具の旋回を抑制するための旋回抑制手段とを備える。また、吊荷の姿勢制御装置は、吊治具に設置される、第1〜第4のスラスタ群を備える。第1のスラスタ群は、第1のスラスタ群から発生するスラスタ推力の合力の方向が第1の仮想直線の一方向に、第2のスラスタ群は、第2のスラスタ群から発生するスラスタ推力の合力の方向が第1の仮想直線の他方向に、第3のスラスタ群は、第3のスラスタ群から発生するスラスタ推力の合力の方向が第2の仮想直線の一方向に、第4のスラスタ群は、第4のスラスタ群を構成するスラスタから発生するスラスタ推力の合力の方向が第2の仮想直線の他方向に一致するように配置される。【選択図】図1
ATTITUDE CONTROL DEVICE FOR SUSPENDED CARGO
吊荷の姿勢制御装置
2019-09-12
Patent
Electronic Resource
Japanese
IPC: | B66C Krane , CRANES |
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