KR20170035522A - Reinforcement apparatus of pump tower - Google Patents

Reinforcement apparatus of pump tower Download PDF

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Publication number
KR20170035522A
KR20170035522A KR1020150134441A KR20150134441A KR20170035522A KR 20170035522 A KR20170035522 A KR 20170035522A KR 1020150134441 A KR1020150134441 A KR 1020150134441A KR 20150134441 A KR20150134441 A KR 20150134441A KR 20170035522 A KR20170035522 A KR 20170035522A
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KR
South Korea
Prior art keywords
reinforcing frame
pipe
gear
pipes
reinforcing
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KR1020150134441A
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Korean (ko)
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KR101751328B1 (en
Inventor
정종훈
이재훈
박동희
진용민
허원석
Original Assignee
삼성중공업 주식회사
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Priority to KR1020150134441A priority Critical patent/KR101751328B1/en
Publication of KR20170035522A publication Critical patent/KR20170035522A/en
Application granted granted Critical
Publication of KR101751328B1 publication Critical patent/KR101751328B1/en

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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 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/24—Arrangement of ship-based loading or unloading equipment for cargo or passengers of pipe-lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B25/00—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby
    • B63B25/02—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods
    • B63B25/08—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid
    • B63B25/12—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid closed
    • B63B25/16—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid closed heat-insulated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/30—Arrangement of ship-based loading or unloading equipment for transfer at sea between ships or between ships and off-shore structures
    • B63B27/34—Arrangement of ship-based loading or unloading equipment for transfer at sea between ships or between ships and off-shore structures using pipe-lines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
    • F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
    • F17C13/00—Details of vessels or of the filling or discharging of vessels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
    • F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
    • F17C2270/00—Applications
    • F17C2270/01—Applications for fluid transport or storage
    • F17C2270/0102—Applications for fluid transport or storage on or in the water
    • F17C2270/0105—Ships

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)
  • Filling Or Discharging Of Gas Storage Vessels (AREA)

Abstract

A pump tower reinforcement device is disclosed. A reinforcing device according to an embodiment of the present invention is mounted on a pump tower including a plurality of pipes for introducing or discharging liquid cargo into and from a cargo hold and a connecting member for connecting the pipes to each other on the inner surface of the pipe, A reinforcing frame including an inclining portion surrounding the perimeter and a supporting member connecting the percussion portion to each other; And an elevating unit for elevating and lowering the reinforcing frame.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pump tower,

The present invention relates to a reinforcement device for a pump tower.

A ship for transporting a liquid cargo such as liquefied natural gas (LNG) or the like is provided with a cargo window for storing liquid cargo liquefied at a cryogenic temperature and a pump tower for loading and unloading the liquid cargo.

The pump tower is connected to the loading device and has one filling pipe for introducing the liquid cargo into the cargo hold, two discharge pipes connected to the unloading device for discharging the liquid cargo to the outside of the cargo hold, One emergency pipe used for cargo unloading, and a connecting member connecting these pipes to each other. The connecting member may be connected to each pipe by a truss structure.

The pump tower is usually installed close to a bulkerhead on the aft side and is supported by a base support provided on the inner bottom of the cargo hold in a state fixed to a liquid dome. Here, the discharge pipe is disposed closer to the inner wall of the heat insulating barrier formed on the side of the partition wall than the emergency pipe.

The pump tower is provided with a base plate that is coupled to the base support at the bottom. The filling pipe, the discharge pipe, and the emergency pipe of the pump tower are fixed to the base plate, and the base plate is coupled to the base support.

On the other hand, a sloshing load is generated in the pump tower due to the coincidence of the period of motion of the liquid cargo in the cargo hold with the period of motion of the external wave load. If the pump tower is deformed due to the sloshing load, it may also affect the liquid dome, the base support, and the base plate, so it is necessary to effectively cope with the sloshing load.

Conventionally, a pump tower considering a sloshing load in the most serious situation was manufactured and applied regardless of the type of the cargo hold.

In this case, the connection member for connecting the pipe of the pump tower is excessively used for reducing the sloshing load, which increases the weight of the entire pump tower, the manufacturing cost, and the installation manpower and installation time. Further, since a large amount of connecting members are connected to the pipe of the pump tower by a welding method, the stability of the pump tower may be lowered.

As a related art, refer to Korean Patent Laid-Open No. 10-2012-0013255 (2012.02.14.

Korean Patent Laid-Open No. 10-2012-0013255 (2012.02.14. Open)

An embodiment of the present invention is to provide a pump tower reinforcing apparatus which is mounted on a pump tower and can effectively reduce a sloshing load.

According to an aspect of the present invention, there is provided a liquid storage tank, which is mounted on a pump tower including a plurality of pipes for introducing or discharging liquid cargo into or from a cargo hold, and a connecting member attached to an inner outer surface of the pipe and connecting the pipes to each other, A reinforcing frame including an inclining portion that surrounds the peripheries, and a support member that connects the inclining portions to each other; And an elevating unit for elevating and lowering the reinforcing frame.

An inner side of the engaging portion may be formed in an open shape so as not to interfere with the connecting member when the elevating unit moves along the pipe to change an installed position of the reinforcing frame.

The elevating unit includes a first gear that is provided on an outer surface of the pipe above the reinforcing frame and rotates by a motor, a second gear that rotates in engagement with the first gear, and a second gear that is axially coupled to the second gear, A drive unit including a third gear coupled to the chain and rotating in accordance with a rotation direction of the gear; a pulley installed on an outer surface of the pipe below the reinforcing frame, the chain extending over the chain; So that the reinforcing frame is moved upward or downward according to the moving direction of the chain.

A fixing plate provided inside the inclusion portion in a shape corresponding to the pipe shape and a fixing portion provided in the inclining portion and fixing the reinforcing frame by bringing the fixing plate into close contact with the pipe.

The worm wheel is rotatably supported by the engaging portion in a state where one side of the worm wheel is rotatably inserted into the case provided in the engaging portion. The worm wheel is rotated in engagement with the worm gear. And a pressing portion that moves downward along the rotational direction of the worm wheel and fixes the reinforcing frame by bringing the fixing plate into close contact with the pipe.

Wherein the reinforcing frame is provided in two or more stages and the overlapped portion of the upper reinforcing frame is connected to each other by the inclined portion of the lower reinforcing frame and the diagonal connecting member, It can be installed per pipe.

Wherein the reinforcing frame is installed on the pump tower so that two or more of the reinforcing frames are spaced apart from each other, a sensing sensor for sensing the level of the liquid cargo filled in the cargo hold, And a control unit for controlling the interval between the reinforcing frames provided so as to be spaced apart from each other.

The outer wall of at least one of the pipes may be provided with a rack-shaped rail, and the elevating unit may include a pinion-type driving wheel disposed to be engaged with the rail and rotated by a motor to lift the reinforcing frame .

The reinforcing device of the pump tower according to the embodiment of the present invention can be mounted on the pump tower to effectively reduce the sloshing load.

In addition, since the position of the pump can be changed in accordance with the level of the liquid cargo filled in the cargo hold, the sloshing load acting on the pump tower can be effectively responded to the liquid level of the liquid cargo.

In consideration of the characteristics of the sloshing load acting on each type of cargo hold of the ship, one or more of the sloshing loads can be installed in a certain portion of the pump tower, or the installed position can be changed, thereby effectively reducing the sloshing load.

In addition, since no separate welding work is required during the installation work, not only the stability of the pump tower can be improved, but also the weight and the installation workforce and time of the pump tower can be reduced.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 is a perspective view of a pump tower according to an embodiment of the present invention in which a reinforcing device is installed.
2 is a perspective view of a driving unit included in the elevating unit of the reinforcing apparatus shown in FIG.
FIG. 3 is a perspective view illustrating a configuration in which a plurality of driving units shown in FIG. 2 are provided so as not to interfere with each other.
Fig. 4 is a perspective view of a fixed frame provided in an engaging portion to be engaged with a chain moved by the driving unit shown in Fig. 2;
5 is a perspective view of a fixing unit for fixing a reinforcing frame of the reinforcing apparatus shown in Fig.
6 is a cut-away sectional view of the fixing portion shown in Fig.
FIG. 7 is a block diagram showing a configuration for controlling the gap between the two reinforcing frames shown in FIG. 1 according to the liquid level of the liquid cargo.
Fig. 8 shows another example of the lifting unit shown in Fig.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments described below are provided by way of example so that those skilled in the art will be able to fully understand the spirit of the present invention. The present invention is not limited to the embodiments described below, but may be embodied in other forms. In order to clearly explain the present invention, parts not related to the description are omitted from the drawings, and the width, length, thickness, etc. of the components may be exaggerated for convenience. Like reference numerals designate like elements throughout the specification.

Referring to FIG. 1, a plurality of pipes P1 to P3 for introducing or discharging liquid cargo into or from the cargo hold and a connecting member 102 (for connecting pipes P1 to P3) The reinforcing device mounted on the pump tower includes a reinforcing frame 111 including an inclining portion 111 surrounding the outer periphery of the pipes P1 to P3 and a supporting member 112a connecting the engaging portions 111 to each other. (110), and a lifting unit (120) for lifting the reinforcing frame (110).

These reinforcing devices include various liquefied gas carriers, liquefied fuel RV (Regasification Vessel), container ships, general merchant ships, LNG FPSO (Floating, Production, Storage and Off-loading), LNG FSRU (Floating Storage and Regasification Unit) It can be applied to pump towers of various ships.

In the following embodiments, two discharge pipes P1 and P2 for unloading liquid cargo and one emergency pipe P3 for emergency use are arranged in a triangular shape, and the liquid cargo is transferred into the cargo hold The filling pipe can be fixed adjacent to the emergency pipe P3 so as not to interfere with the reinforcing device, so that the filling pipe is omitted for convenience of explanation.

In the following description, two reinforcing frames 110 (110-1, 110-2) provided in the pump tower are spaced apart from each other. However, in another example, the reinforcing frames 110-1, 110-2 may be provided in various numbers and numbers . At this time, the inclined portions 111 of the respective ends of the reinforcing frame 110 are connected to each other by the diagonal connecting member 112b.

The inclusion part 111 is provided corresponding to the shapes of the pipes P1 to P3 and can wrap the outer circumference of the pipes P1 to P3. At this time, in order to change the installed position of the reinforcing frame 110, the inside of the catching portion 111 is opened so as not to interfere with the connecting member 102 when moving along the pipes P1 to P3 by the elevation unit 120 Or the like.

The support member 112a connecting the inclusion part 111 and the pipes P1 to P3 forms a triangle in the same way as the pipes P1 to P3 and the connecting member 102 connecting the pipes P1 to P3 have a triangular shape. At this time, the supporting part 112a connecting the catching part 111 and the supporting part 112a has a form to receive the pipes P1 to P3 from the outside and the connecting member 102 to connect the pipes P1 to P3.

2 and 3, the lifting unit 120 is provided on a mounting plate 129 coupled to the outer surfaces of the pipes P1 to P3 above the reinforcing frame 110, A second gear 125 that rotates in engagement with the first gear 124 and a second gear 125 that is coupled to the second gear 125 in the X axis direction and rotates in the direction of rotation of the second gear 125, And a third gear 126 to which a chain C is coupled; a drive unit 121 installed on an outer surface of the pipes P1 to P3 below the reinforcing frame 110 and having pulleys 122 ). For example, the first gear 124 may be a worm gear, and the second gear 125 may be a worm wheel.

The first gear 124 of the driving unit 121 can be supported by the first support 127 to be rotatable by the motor M1.

The second gear 125 of the driving unit 121 is coupled to the second support member 128 via the shaft X to transmit the rotational force to the third gear 126.

The pulley 122 supports the chain C and allows the chain C to move along the direction of rotation of the second gear 125.

As shown in FIGS. 1 and 3, the driving unit 121 and the pulley 122 are provided in a number corresponding to each of the inclining parts 111 of the two reinforcing frames 110 arranged to be spaced apart from each other, And can be disposed in each of the pipes P1 to P3. In FIG. 3, for example, the two driving units 121 are disposed on the emergency pipe P3. However, the present invention can be similarly applied to the pipe P2 and the pipe P1 as shown in FIG.

At this time, in the case of the two or more stages of the reinforcing frame 110, the driving unit 121 and the pulleys 122 are provided so as to correspond to any one of the stages 111 corresponding to one stage so as to be suitable for moving the reinforcing frame 110 . This is because an unnecessary configuration can be increased if the driving unit 121 and the pulley 122 are provided corresponding to the inclining portions 111 of both the stages of the reinforcing frame 110. [

The above-described mounting plate 129 is attached to each of the pipes P1 to P3, thereby enhancing the convenience of operation. The mounting plate 129 can be coupled to each of the pipes P1 to P3 in a state in which the driving unit 121 is attached in advance.

4, the supporting frame 111 is coupled to the chain C so that the reinforcing frame 110 moves upward or downward along the moving direction of the chain C, ) May be provided.

The fixed frame 115 can be coupled to the catching portion 111 by fastening means such as welding or bolts B or the like. The fixed frame 115 is arranged in parallel with the driving part 121 and the pulley 122 in the vertical direction.

The fixed frame 115 is provided with a through hole 115a through which the chain C passes and a coupling member 115b engaged with the chain C is provided in the through hole 115a. So that the reinforcing frame 110 can be moved upward or downward according to the moving direction of the chain (C).

5 and 6, a fixing plate 116 and an inclining part 111 and a fixing plate (not shown) are formed inside the inclining part 111 of the reinforcing frame 110 in a shape corresponding to the shape of the pipes P1 to P3, 116 and may be provided with a gap adjusting plate 117 for adjusting the distance between the engaging part 111 and the fixed plate 116. [

It is also possible to provide a fixing part 130 which is provided in the catching part 111 and fixes the reinforcing frame 110 by bringing the fixing plate 116 into close contact with the pipes P1 to P3. 5 and 6 illustrate a state in which the fixing portion 130 is provided on the catching portion 111 provided in the discharge pipe P2 but the present invention is also applicable to the catching portion 111 of the other pipes P1 and P3 .

The fixing plate 116 may be disposed on both sides of the catching portion 111, for example, divided in half. The fixing part 130 may be disposed on both sides of the catching part 111 and fix the fixing plate 116 to the pipes P1 to P3 to fix the reinforcing frame 110 at a predetermined position. Only the inside of the fixing part 130 provided at one side of the catching part 111 is shown in detail in FIG.

The fixing portion 130 is engaged with the worm gear 131 while being rotatably inserted into the case 135 provided in the abutting portion 111 and the worm gear 131 rotated by the motor M2, The worm wheel 132 and the worm wheel 132 are screwed to each other and move downward along the rotation direction of the worm wheel 132 to closely contact the fixed plate 116 to the pipes P1 to P3, And a pressing portion 133 for fixing the pressing portion 133 and the pressing portion 133.

The worm gear 131 can be rotatably supported by the third support body 137 by the motor M2.

When the worm gear 131 is rotated in one direction by the motor M2, the pressing portion 133 is rotated by the worm wheel 132 rotating in association with the rotation of the worm gear 131 And the fixing plate 116 can be brought into close contact with the pipe P side. The worm wheel 132 rotates in a state in which the lower side is supported by the inclined portion 111 and the pressing portion 133 screwed to the inside of the worm wheel 132 is welded or adhered to the fixed plate 116 And can move in the longitudinal direction while being coupled to each other by various methods.

As described above, since the welding operation is not required during the installation work of the reinforcing frame 110 including the supporting part 112a connecting the engaging part 111, the stability of the pump tower can be improved, . In addition, only a necessary number of reinforcing frames 110 can be provided depending on the type of the cargo hold and its characteristics, so that the weight of the pump tower can be reduced, and the sloshing load can be effectively coped with.

1 and 7, a sensing unit 140 for sensing the level of the liquid cargo filled in the cargo hold and a driving unit (not shown) of the lift unit 120 based on the level of the liquid cargo received from the sensing sensor 140 121 to control the distance between the reinforcing frames 110 installed apart from each other. That is, as shown in FIG. 1, the gap between the upper reinforcing frame 110-1 and the lower reinforcing frame 110-2, which are spaced apart from each other, can be adjusted according to the liquid level of the liquid cargo.

For example, when the liquid level of the liquid cargo filled in the cargo hold reaches 10% to 30% of the acceptable water level, the controller 150 controls the two reinforcing frames 110-1 and 110-2 Can be moved to be disposed close to each other.

When the liquid level of the liquid cargo filled in the cargo hold reaches 30% to 60% of the acceptable water level, the controller 150 moves the upper reinforcing frame 110-1 toward the water surface of the liquid cargo, The lower reinforcement frame 110-2 can be moved.

When the liquid level of the liquid cargo filled in the cargo hold reaches 60% or more of the acceptable water level, the controller 150 moves the upper reinforcing frame 110-1 toward the water surface of the liquid cargo, It is possible to move the lower reinforcement frame 110-2 at a midpoint between the vicinity of the water surface of the liquid cargo and the lowermost portion of the pump tower.

The control unit 150 adjusts the interval between the reinforcing frames 110-1 and 110-2 according to the level of the liquid cargo and then operates the fixing unit 130 so that the reinforcing frames 110-1 and 110-2 -2) can be fixed.

Since the positions of the reinforcing frames 110-1 and 110-2 can be changed according to the level of the liquid cargo filled in the cargo hold, it is possible to effectively cope with the sloshing load acting on the pump tower according to the level of the liquid cargo .

In consideration of the characteristics of the sloshing load acting on the type of cargo hold of the ship, at least one reinforcing frame 110 may be installed at a certain position of the pump tower, or the position of the reinforcing frame 110 may be changed, Can be effectively reduced.

Referring to FIG. 8, the above-described elevating unit 120 may be provided in a rack and pinion manner.

To this end, a rack-shaped rail 172 is provided on the outer wall of at least one of the pipes P1 to P3 and the elevating unit 120 is provided to be engaged with the rail 172, And a driving wheel 174 of a pinion type for raising and lowering the reinforcing frame 110 while rotating.

The foregoing has shown and described specific embodiments. However, it is to be understood that the present invention is not limited to the above-described embodiment, and various changes and modifications may be made without departing from the scope of the technical idea of the present invention described in the following claims It will be possible.

100: reinforcing device 110, 110-1, 110-2: reinforcing frame
111: engaging portion 112a: supporting member
112b: diagonal connecting member 115: fixed frame
116: Fixing plate 117: Spacing plate
120: lift unit 121:
122: pulley 124: first gear
125: second gear 126: third gear
131: Worm gear 132: Worm wheel
133: pressing portion 135: case
140: detection sensor 150:
172: rail 174: drive wheel
C: Chain M1 to M3: Motor
P1 ~ P3: pipe

Claims (8)

A plurality of pipes for introducing or discharging the liquid cargo into and from the cargo hold, and a connecting member attached to the inner surface of the pipe and connecting the pipes to each other,
A reinforcing frame including an inclining portion surrounding the outer periphery of the pipe and a supporting member connecting the engaging portion to each other; And
And an elevating unit for elevating and lowering the reinforcing frame. The method according to claim 1,
And an inner side of the engaging portion is provided in an open shape so as not to interfere with the connecting member when the elevating unit moves along the pipe to change the installed position of the reinforcing frame. The method according to claim 1,
The elevating unit includes:
A first gear which is provided on an outer surface of the pipe above the reinforcing frame and rotates by a motor, a second gear which rotates in engagement with the first gear, and a second gear which is axially combined with the second gear, A driving unit including a third gear coupled to the chain,
A reinforcing frame provided on the outer surface of the pipe below the reinforcement frame,
Wherein the engaging portion is provided with a fixing frame which is engaged with the chain and moves the reinforcing frame upward or downward according to a moving direction of the chain. The method according to claim 1,
A fixing plate provided inside the inclusion portion in a shape corresponding to the pipe shape,
And a fixing unit provided on the inclining part and fixing the reinforcing frame by bringing the fixing plate into close contact with the pipe. 5. The method of claim 4,
The fixed portion
A worm gear rotated by a motor,
A worm wheel supported by the engaging portion in a state where one side of the worm wheel is rotatably inserted into a case provided in the abutting portion,
And a pressing portion that is screwed to the inside of the worm wheel and moves downward along the rotation direction of the worm wheel to closely contact the fixing plate to the pipe to fix the reinforcing frame. The method according to claim 1,
Wherein the reinforcing frame is provided in two or more stages, the overlapped portion of the upper reinforcing frame is connected to the lower reinforcing frame by the inclined portion and the diagonal connecting member,
Wherein the elevating units are provided for each of the pipes so that at least one of the elevating units corresponds to the perimeter of the reinforcing frame. The method according to claim 1,
Wherein the reinforcing frame is installed on the pump tower so that two or more of the reinforcing frames are spaced apart from each other,
A sensing sensor for sensing the level of the liquid cargo filled in the cargo hold,
Further comprising a control unit for controlling an interval between the reinforcing frames provided to be spaced apart from each other by controlling the elevating unit based on a level of the liquid cargo received from the sensing sensor. The method according to claim 1,
A rack-shaped rail is provided on the outer wall of at least one of the pipes,
The elevating unit includes:
And a pinion type drive wheel which is arranged to be engaged with the rail and which is rotated by a motor to raise and lower the reinforcing frame.
KR1020150134441A 2015-09-23 2015-09-23 Reinforcement apparatus of pump tower KR101751328B1 (en)

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KR200493728Y1 (en) * 2019-11-29 2021-05-28 한국가스공사 Local pit pump long-distance manipulator

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Publication number Priority date Publication date Assignee Title
KR20120013255A (en) 2011-12-16 2012-02-14 삼성중공업 주식회사 Structure of pump-tower for lng storage tank

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US20050001131A1 (en) * 2003-07-03 2005-01-06 Stevens James A. Method and apparatus for tower reinforcement system
JP2014000846A (en) * 2012-06-15 2014-01-09 Showa Corp Power steering device of vessel and vessel

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Publication number Priority date Publication date Assignee Title
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