CN102145742A - Ship structure with azimuth propulsion device - Google Patents
Ship structure with azimuth propulsion device Download PDFInfo
- Publication number
- CN102145742A CN102145742A CN2010101558619A CN201010155861A CN102145742A CN 102145742 A CN102145742 A CN 102145742A CN 2010101558619 A CN2010101558619 A CN 2010101558619A CN 201010155861 A CN201010155861 A CN 201010155861A CN 102145742 A CN102145742 A CN 102145742A
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- CN
- China
- Prior art keywords
- ship
- azimuth propulsion
- hull
- water
- drinking water
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Traffic Control Systems (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to a ship structure with an azimuth propulsion device. A plurality of boost motors generating propulsive force for ship moving are disposed at the ship head bottom of the ship body and at the ship tail bottom of the ship body. Some areas of the ship head and the ship tail are provided with relatively light drafts, enabling the ship structure to sail in shallow water areas. The ship structure comprises an azimuth propulsion device which is disposed at the lower part of the ship body to move the ship body. The utility model is characterized in that the ship head and the ship tail part of the ship body are respectively formed by a light draft part at the ship head and a light draft part at the ship tail; the drafts of the two light draft parts is lighter than the draft at the central part of the ship body; the azimuth propulsion device is disposed at the light draft parts of the ship head and the ship tail whose drafts are lighter than those of the central part.
Description
Technical field
The present invention relates to a kind of float type structure (floating type structure) that possesses the azimuth propulsion (azimuthpropulsion device) on the bottom that is installed in hull, and more particularly, the present invention relates to a kind of ship structure (marine structure), on wherein serving as bottom the stern of stern that a plurality of boosters (thruster) that are used to mobile hull and produce the azimuth propulsion of propulsive force are installed in the bow bottom of bow of hull and hull, wherein some districts of bow and stern have relative lighter drinking water, so that ship structure can be navigated by water on shallow water area.
Background technology
In general, dynamicpositioning (dynamic position in the ship (vessel), DP) system is used for by global positioning system (global positioning system, GPS) discern the position of ship, and be used for not adopting conventional berthing accommodation (mooringapparatus) to come the system of the position of anchoring ships by using propelling unit.
This dynamic positioning system mainly is provided at drilling vessel (drillship) or semisubmersible (semi-submersible) drilling vessel, in the time of can opening ice in the polar region independently in the ice breaker of navigation etc., described drilling vessel or semisubmersible drilling vessel can be carried out drilling process in when navigation, this with can be when being anchored to marine a certain position by mooring gear the static platform that is exclusively used in Offshore oil drilling of execution Offshore oil drilling process different.
For example utilized azimuth booster, Azipod (comprehensive pod propulsion electric propulsion system) isoazimuth propelling unit as the propelling unit that is adopted in the dynamic position system, wherein azimuth propulsion is to possess the nearly angle of rake omnidirectional propelling unit of 360 degree that can pivot, and makes described azimuth propulsion allow ship freely being pushed into forward or backward or turning to.
Simultaneously, because the various advantages of aspects such as maneuvering performance, azimuth propulsion not only is used for drilling vessel or semisubmersible drilling vessel and ice breaker widely, but also be used for various ships, comprise shuttle tanker, oil or liquefied natural gas (LNG) Floating Production and store uninstalling system (floatingproduction storage offloading, FPSO), oil or LNG floating store and regasification unit (floating storage and re-gasification unit, FSRU), at the freighter or the passenger boat of arctic navigation.
Openly case and 20-2000-0002096 Korean Utility Model openly disclose the example of the various ship structures on the bottom part of hull that azimuth propulsion wherein is installed in each ship structure in early days in the case in early days in S62-137799 day the present invention.
As shown in Figure 1, be used to mobile hull and the azimuth propulsion (that is, booster) that produces propulsive force is installed on the lower surface of hull, reducing noise and/or the vibration in the passenger boat, or strengthen the efficient in drilling vessel or the semisubmersible drilling vessel.Yet because the cause of the height of booster, ship as described above is inhibited on the shallow water area to a great extent and navigates by water.In order to overcome the above problems, a kind of method of using recoverable type booster to navigate by water on the limited waters of the degree of depth has been proposed, wherein said recoverable type booster can be regained in the hull where necessary, make when hull navigates by water on harbour or canal, in the recoverable type booster some are retracted in the hull, and only utilize other the above booster of baseline that is installed in hull to allow hull to navigate by water on the limited waters of the degree of depth.
Yet because recoverable type booster has frequent et out of order of meeting and difficult maintenance the in lower applying frequency, the use, most of shipowners are not inclined to this type of recoverable type booster of use.
Simultaneously, be installed in azimuth propulsion under the situation below the baseline of hull, can obtain the optimum efficiency of azimuth propulsion.Yet, owing to azimuth propulsion itself has usually near 6.0 meters or higher height, so azimuth propulsion is as described above served as sizable obstacle when hull navigates by water on neritic province domain.
In addition, because that drinking water should be kept is lighter, so that allow hull on neritic province domain, to navigate by water, so lot cargo, passenger and the consumables can not be loaded in the hull.In some cases, hull just passes through on neritic province domain under the situation of not loading any goods, passenger and the consumables reluctantly.
Summary of the invention
The present invention is through conceiving to solve problem referred to above of the prior art.Target of the present invention provides a kind of ship structure, on wherein serving as bottom the stern of stern that a plurality of boosters that are used to mobile hull and produce the azimuth propulsion of propulsive force are installed in the bow bottom of bow of hull and hull, and some districts of bow and stern have relative lighter drinking water, so that ship structure can be navigated by water on shallow water area.
According to an aspect of of the present present invention that is used to realize described target, a kind of ship structure is provided, it has on the bottom part that is installed in hull the azimuth propulsion with mobile hull, wherein the bow of hull and stern the part respectively by the bow side gently absorb water the partial sum stern-side gently absorb water the part constitute, the drinking water of described two light drinking water parts are lighter than the drinking water of the core of hull, and described azimuth propulsion is installed in bow side and the stern-side that drinking water is lighter than the drinking water of core and gently absorbs water on the part.
Preferably, described azimuth propulsion is through installing so that the height of the lower end of azimuth propulsion is equal to or higher than the height of the baseline of core.
Described azimuth propulsion is preferably through installing so that the height of the angle of rake propeller shaft of azimuth propulsion is equal to or higher than the height of the baseline of core.
Preferably, described ship structure further comprise be clipped in azimuth propulsion and bow side or stern-side gently absorb water the part between erecting stage, make that the angle of rake propeller shaft of azimuth propulsion is horizontal.
Preferably, azimuth propulsion is installed in bow side and stern-side and gently absorbs water on the part, makes the angle of rake propeller shaft of azimuth propulsion be and azimuth propulsion is installed and parallels with respect to the listing ship body portion of wind set-up.If azimuth propulsion is mounted to parallel with the listing ship body portion with respect to wind set-up, this is favourable so, because the flow field that propelling unit produced of azimuth propulsion can stably form, thereby reduce the erosion or the resistance to hull bottom that may cause because of cavitation erosion (cavitation).
Preferably, described ship structure is drilling vessel or semisubmersible drilling vessel.
According to a further aspect in the invention, a kind of ship structure, it comprises on the bottom part that is installed in hull a plurality of azimuth propulsion with mobile hull, wherein all azimuth propulsion are installed on the light drinking water part of the drinking water of absorbing water the remainder that is lighter than hull, thereby described ship structure can be navigated by water on neritic province domain.
According to another aspect of the invention, a kind of ship structure, it comprises on the bottom part that is installed in hull the azimuth propulsion with mobile hull, wherein the part of unloaded goods has the bottom that has the light drinking water part of lighter relatively drinking water with formation through revising on the hull, and azimuth propulsion is installed on the described light drinking water part, to prevent to reduce the stowage capacity of goods.
Description of drawings
Fig. 1 is the lateral plan that the ship structure with conventional azimuth propulsion schematically is described.
Fig. 2 is the lateral plan that the ship structure that has azimuth propulsion according to a preferred embodiment of the invention schematically is described.
Fig. 3 is the lateral plan that illustrates that schematically modified embodiment according to the present invention has the ship structure of azimuth propulsion.
The specific embodiment
Hereinafter, will describe the preferred embodiments of the present invention in detail referring to accompanying drawing.
The mentioned ship structure of this paper is to comprise to be used to swim in the sea and to possess and can be used for the structure of azimuth propulsion of propulsive force of mobile hull and/or the notion of ship so as to generation.For instance, described ship structure comprises all structures and/or ship, for example drilling vessel or semisubmersible drilling vessel, ice breaker, FPSO (Floating Production stores and uninstalling system), FSRU (floating stores and regasification unit) etc.
According to the present invention, as shown in Figure 2, hull 1 is through making with setting, makes the drinking water in a certain district (stern-side is gently absorbed water part 3) in the stern-side of a certain district (the bow side is gently absorbed water part 2) in the bow side of hull 1 and hull 1 be lighter than the drinking water of the core 4 of hull 1.In this article, term " light drinking water " means that the part that is called as light drinking water of hull is submerged under water more shallowly, promptly, distance between the lower end of the described part that is called as light drinking water of the water surface and hull is shorter, and term " deep draft " means that another part that is called as deep draft of hull is submerged under water more deeply, that is, the distance between the lower end of the described part that is called as deep draft of the water surface and hull is longer.
Owing to require hull 1 to have streamline-shaped basically, so preferably, bow side transition (transition) part 5 forms and connects the bow side obliquely and gently absorb water part 2 and core 4, makes the bow side with relatively light drinking water gently absorb water part 2 and can not form stepped part with having between the relative core 4 than deep draft.Equally, preferably, stern-side transition portion 6 forms and connects stern-side obliquely and gently absorb water part 3 and core 4, makes the stern-side with relatively light drinking water gently absorb water part 3 and can not form stepped part with having between the relative core 4 than deep draft.
Fig. 2 illustrates the lower surface that core 4 has level of approximation, the bow side is gently absorbed water part 2 and is had gradually and to descend and then sharply to rise with the lower surface of the forward that forms hull towards the bow side of hull 1, and stern-side is gently absorbed water part 3 and had the lower surface that inclination is risen gradually with the stern-side towards hull 1.Yet, the invention is not restricted to the shape of hull as described above.To understand, the present invention can be applicable to bow side wherein and gently absorbs water part 2 and stern-side and gently absorb water the shape of hull that part 3 has the lower surface of level of approximation, or wherein the bow side is gently absorbed water part 2 and stern-side and gently absorbed water part 3 and have respectively towards another shape of the hull on the surface, tilting bottom that bow side and stern-side rise gradually.
The height that the bow side is gently absorbed water part 2 can equal the height that stern-side is gently absorbed water part 3.Although Fig. 2 illustrates that two azimuth propulsion 10 are installed in the bow side and gently absorb water on the part 2, and two azimuth propulsion 10 are installed in stern-side and gently absorb water on the part 3, the invention is not restricted to the azimuth propulsion of described number.If two azimuth propulsion are installed in the bow side gently absorbs water part 2 and stern-side and gently absorbs water in the part 3 each, so preferably, described two azimuth propulsion are not arranged to straight line on the longitudinal direction of hull 1, but arrange to prevent described two azimuth propulsion interfering with each other diagonally.In addition, can be installed in the bow side and gently absorb water part 2 and stern-side and gently absorb water in the part 3 each being arranged to three triangular shaped azimuth propulsion.
Can change according to the size of azimuth propulsion to be used 10 although the bow side is gently absorbed water the diff-H that part 2 and stern-side gently absorb water between part 3 and the core 4, the bow side is gently absorbed water part 2 and stern-side and is gently absorbed water diff-H between part 3 and the core 4 and can be confirmed as making the height of angle of rake propeller shaft of azimuth propulsion 10 to be approximately equal to or to be higher than the height of the baseline of core 4.Perhaps, the bow side is gently absorbed water part 2 and stern-side and is gently absorbed water diff-H between part 3 and the core 4 and can be confirmed as making the height of lower end of azimuth propulsion 10 to be equal to or higher than the height of the baseline of core 4.
According to ship structure shown in Figure 2, if the baseline of hull is not a level, so in order to make it possible to the angle of rake propeller shaft of on even keel installation position angle propelling unit 10, erecting stage 11 can be clipped between the baseline of azimuth propulsion 10 and hull, make azimuth propulsion 10 can be installed on the erecting stage 11.If angle of rake propeller shaft is a level, can around propelling unit, form stable flow field so, lose to prevent propulsive force.
Referring to Fig. 3, it illustrates different with configuration shown in Figure 2 of the present invention through revising example, even the baseline of hull is not a level, also can not have installation position angle propelling unit 10 under the situation of extra erecting stage.Therefore, azimuth propulsion 10 can be installed into makes that angle of rake propeller shaft is not a level, but tilts according to the degree of dip of hull in the part that azimuth propulsion 10 is installed.In the case, might utilize the shape of hull, so that installation position angle propelling unit 10 makes stably to obtain azimuth propulsion 10 flow field on every side.Fig. 3 only also illustrates the enlarged view from the second party parallactic angle propelling unit of bow side, and wherein the leaning angle of second party parallactic angle propelling unit is indicated as " θ ".Yet this structure is exemplarily explanation only.
If azimuth propulsion 10 is mounted to parallel with the listing ship body portion 12 with respect to wind set-up, the present invention may be favourable so, because the flow field that propelling unit produced of azimuth propulsion can stably form, thereby reduce the erosion or the resistance to hull bottom that may cause because of cavitation erosion.Although Fig. 3 only illustrates second party parallactic angle propelling unit from the bow side and is installed in the bow side and gently absorbs water on the listing ship body portion 12 with respect to wind set-up in the part 2, this structure is exemplarily explanation only.
According to the present invention as described above, under the situation of the lower surface of not making the hull that has identical drinking water from the bow side to stern-side, the stern-side that the bow side with light drinking water is gently absorbed water part 2 and had a light drinking water is gently absorbed water part 3 and is formed in some districts of top installation position angle propelling unit of bow side and stern-side.Thus, be difficult on the canal that guarantees to absorb water or on the more shallow port, shallow sea of the degree of depth of water, might strengthening the manoevreability of hull, and guarantee that the stowage capacity in the hull is proportional with the drinking water that is guaranteed.
Compare with recoverable type booster, in view of the low failure frequency in using, cheap maintenance cost and the easness of maintenance, azimuth propulsion of the present invention is favourable.
In addition, even being applicable to ship structure of the present invention is freighter, mainly be configured to when having light drinking water and also do not reduce on the volume, make the stowage capacity of goods can not affect adversely as core some districts in bow side and stern-side of the hull of loading space.
According to the present invention as described above, ship structure is provided, on wherein serving as bottom the stern that a plurality of boosters that are used to mobile hull and produce the azimuth propulsion of propulsive force are installed in the bow bottom of bow and stern, wherein some districts of bow and stern have relative lighter drinking water, so that described ship structure can be navigated by water on shallow water area.
The above, it only is preferred embodiment of the present invention, be not that the present invention is done any pro forma restriction, though the present invention discloses as above with preferred embodiment, yet be not in order to limit the present invention, any those skilled in the art are not in breaking away from the technical solution of the present invention scope, when the technology contents that can utilize above-mentioned announcement is made a little change or is modified to the equivalent embodiment of equivalent variations, in every case be the content that does not break away from technical solution of the present invention, according to technical spirit of the present invention to any simple modification that above embodiment did, equivalent variations and modification all still belong in the scope of technical solution of the present invention.
Claims (8)
1. ship structure, it has on the bottom part that is installed in hull moving the azimuth propulsion of described hull,
It is characterized in that the bow of described hull and stern part gently absorbs water part by bow side and stern-side respectively and constitute, the drinking water of described two light drinking water parts are lighter than the drinking water of the core of described hull, and azimuth propulsion is installed in described bow side and the stern-side that drinking water is lighter than the drinking water of described core and gently absorbs water on the part.
2. ship structure according to claim 1 is characterized in that described azimuth propulsion is installed into to make the height of lower end of described azimuth propulsion be equal to or higher than the height of the baseline of described core.
3. ship structure according to claim 1 is characterized in that described azimuth propulsion is installed into to make the height of angle of rake propeller shaft of described azimuth propulsion be equal to or higher than the height of the baseline of described core.
4. ship structure according to claim 1, its further comprise be clipped in described azimuth propulsion and described bow side or stern-side gently absorb water the part between erecting stage, make that the angle of rake propeller shaft of described azimuth propulsion is horizontal.
5. ship structure according to claim 1, it is characterized in that described azimuth propulsion is installed in described bow side and stern-side and gently absorbs water on the part, make the angle of rake propeller shaft of described azimuth propulsion be and described azimuth propulsion is installed and parallels with respect to the listing ship body portion of wind set-up.
6. ship structure according to claim 1 is characterized in that described ship structure is drilling vessel or semisubmersible drilling vessel.
7. ship structure, it comprises on the bottom part that is installed in hull moving a plurality of azimuth propulsion of described hull,
It is characterized in that all described azimuth propulsion are installed on the light drinking water part of the drinking water of absorbing water the remainder that is lighter than described hull, thereby described ship structure can be navigated by water on neritic province domain.
8. ship structure, it comprises on the bottom part that is installed in hull moving the azimuth propulsion of described hull,
The part that it is characterized in that unloaded goods on the described hull has the bottom that has the light drinking water part of relatively light drinking water with formation through revising, and described azimuth propulsion is installed in the described light drinking water partly, reduces with the stowage capacity that prevents goods.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2010-0011634 | 2010-02-08 | ||
| KR1020100011634A KR100983084B1 (en) | 2010-02-08 | 2010-02-08 | Marine structure having a azimuth type thruster |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102145742A true CN102145742A (en) | 2011-08-10 |
| CN102145742B CN102145742B (en) | 2014-12-24 |
Family
ID=43010287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010155861.9A Expired - Fee Related CN102145742B (en) | 2010-02-08 | 2010-04-22 | Ship structure with azimuth propulsion device |
Country Status (4)
| Country | Link |
|---|---|
| KR (1) | KR100983084B1 (en) |
| CN (1) | CN102145742B (en) |
| BR (1) | BRPI1001329A2 (en) |
| SG (1) | SG173942A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108505974A (en) * | 2018-05-30 | 2018-09-07 | 大连船舶重工集团海洋工程有限公司 | Semi-submerged platform propeller seabed supporting tool |
| CN110182343A (en) * | 2019-07-15 | 2019-08-30 | 哈工大机器人（岳阳）军民融合研究院 | Unmanned boat |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200485247Y1 (en) * | 2013-10-28 | 2017-12-13 | 대우조선해양 주식회사 | Propulsion structure of vessel |
| CN104670451A (en) * | 2013-11-28 | 2015-06-03 | 宋新民 | Engine and ship combination |
| ES2627849T3 (en) * | 2014-08-22 | 2017-07-31 | Rolls-Royce Marine As | A ship comprising a propulsion unit |
| WO2018134469A1 (en) * | 2017-01-19 | 2018-07-26 | Abb Oy | A vessel |
| CN107757852A (en) * | 2017-11-17 | 2018-03-06 | 佛山市榕岸海洋工程装备有限公司 | A kind of ocean platform with rotatable propeller |
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| JPS6167687A (en) * | 1984-09-12 | 1986-04-07 | Kawasaki Heavy Ind Ltd | How to replace propeller for turning-type thruster |
| US4580517A (en) * | 1983-03-04 | 1986-04-08 | Gotaverken Arendal Ab | Vessel having parallel hulls with 360 degree rotatable thrusters |
| JPH0419296A (en) * | 1990-05-14 | 1992-01-23 | Yamaha Motor Co Ltd | Side thruster |
| US6257165B1 (en) * | 1999-12-20 | 2001-07-10 | Allen Danos, Jr. | Vessel with movable deck and method |
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| JPH0958580A (en) * | 1995-08-25 | 1997-03-04 | Sanoyas Hishino Meisho Corp | Double end type ship |
| FI109783B (en) * | 1997-02-27 | 2002-10-15 | Kvaerner Masa Yards Oy | A method of opening a passage through an ice field and an icebreaker |
| KR200326360Y1 (en) * | 1998-06-30 | 2004-06-17 | 삼성중공업 주식회사 | Drilling rig |
| JP4019296B2 (en) * | 1999-03-15 | 2007-12-12 | 能美防災株式会社 | Transmission system and recording medium recording transmission line short-circuit detection method and short-circuit recovery method program |
| JP3971190B2 (en) | 2002-01-04 | 2007-09-05 | 住友重機械マリンエンジニアリング株式会社 | Ship |
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| FI20070241L (en) * | 2007-03-23 | 2008-09-24 | Statoil Asa | Multipurpose icebreaker |
| US7815398B2 (en) * | 2007-03-30 | 2010-10-19 | Remedial Cayman Limited | Methods of positioning an elevating support vessel |
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2010
- 2010-02-08 KR KR1020100011634A patent/KR100983084B1/en not_active IP Right Cessation
- 2010-04-19 SG SG2010027464A patent/SG173942A1/en unknown
- 2010-04-22 BR BRPI1001329-6A patent/BRPI1001329A2/en not_active IP Right Cessation
- 2010-04-22 CN CN201010155861.9A patent/CN102145742B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5996098A (en) * | 1982-11-24 | 1984-06-02 | Kawasaki Heavy Ind Ltd | Swivel type thruster |
| US4580517A (en) * | 1983-03-04 | 1986-04-08 | Gotaverken Arendal Ab | Vessel having parallel hulls with 360 degree rotatable thrusters |
| JPS6167687A (en) * | 1984-09-12 | 1986-04-07 | Kawasaki Heavy Ind Ltd | How to replace propeller for turning-type thruster |
| JPH0419296A (en) * | 1990-05-14 | 1992-01-23 | Yamaha Motor Co Ltd | Side thruster |
| US6257165B1 (en) * | 1999-12-20 | 2001-07-10 | Allen Danos, Jr. | Vessel with movable deck and method |
| CN1745016A (en) * | 2003-01-30 | 2006-03-08 | 阿克芬亚兹股份有限公司 | Steering and propulsion arrangement for ship |
| CN101439758A (en) * | 2008-12-25 | 2009-05-27 | 上海交通大学 | Dynamic positioning thrust system for Z propeller and elevating rudder |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108505974A (en) * | 2018-05-30 | 2018-09-07 | 大连船舶重工集团海洋工程有限公司 | Semi-submerged platform propeller seabed supporting tool |
| CN108505974B (en) * | 2018-05-30 | 2024-04-12 | 大连船舶重工集团海洋工程有限公司 | Submarine support tool for semi-submersible platform propeller |
| CN110182343A (en) * | 2019-07-15 | 2019-08-30 | 哈工大机器人（岳阳）军民融合研究院 | Unmanned boat |
Also Published As
| Publication number | Publication date |
|---|---|
| SG173942A1 (en) | 2011-09-29 |
| BRPI1001329A2 (en) | 2011-09-27 |
| CN102145742B (en) | 2014-12-24 |
| KR100983084B1 (en) | 2010-09-17 |
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