CN101508327A - Ro-ro passenger ship incline test method - Google Patents
Ro-ro passenger ship incline test method Download PDFInfo
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- CN101508327A CN101508327A CNA2008101541818A CN200810154181A CN101508327A CN 101508327 A CN101508327 A CN 101508327A CN A2008101541818 A CNA2008101541818 A CN A2008101541818A CN 200810154181 A CN200810154181 A CN 200810154181A CN 101508327 A CN101508327 A CN 101508327A
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Abstract
The invention provides a method for performing an inclining test of a ro-ro passenger ship, which comprises the following steps: arranging testing devices and tools; arranging two groups of heavy irons required by the test on a larboard ro-ro deck and a starboard ro-ro deck respectively, namely on the positions close to shipboard sides according to the width of the ship along the left-right symmetrical positions in the length direction of the ship by taking the midship as a border, setting the ship within a heeling angle, and predicting the heeling angle of the ship according to a ship statics formula; and in the testing process, repeatedly testing the heavy irons according to the setting sequence to obtain nine groups of data, and deriving the heeling angle of the ship according to the formula. The method has the advantages of saving the testing time, facilitating subsequent constructions and debugging, and improving the utilization rate of a crane and a tug boat. Under the condition that two ships are anchored in one berth, the ships outside the test do not needed to be dragged away from a wharf so as to create a condition for underwater constructions of ships. The method has the advantages of accurate and reliable data, simple process and steerability for constructions, and can be adopted in ro-ro passenger ships to improve the production efficiency.
Description
Technical field
The present invention relates to a kind of method of ro-ro passenger ship incline test.
Background technology
The boats and ships inclining test is to decide the position of the light weight and the clean ship center of gravity of boats and ships by boats and ships being carried out inclining test, for the calculation of stability of manufacturing boats and ships provides necessary Reference data, guarantees accuracy and authenticity that stability of ship calculates.Therefore, inclining test plays an important role to deliver the vessel and boats and ships operation from now on.
Generally, the inclining test method of shipyard is to place heavy iron above deck, utilizes crane to carry out the repeatedly displacement of fixed position, and to free afloat, the designer carries out work such as boats and ships angle of heel and calculation of stability to tugboat at the bilge with the boats and ships holder.But because the method is subjected to the place, factor affecting such as crane are bigger.Process of the test consumes great amount of manpower, equipment and time.And because during the inclining test, power under water, equipment and construction all suspend.This will be busy to the shipbuilding production task, and under the situation of the whole speed-raising of shipbuilding, inclining test method in the past is backward relatively.How in that to satisfy test figures accurate, and shortening the cooperating of time and equipment to greatest extent, is our urgent research and the problem that solves.
The inclining test method of other producers is as follows both at home and abroad:
Place the heavy iron of many groups on the weather deck, utilize shore tackle to move heavy iron behind corresponding position, measure the angle of inclination of boats and ships.This kind method is owing to be subjected to the restriction of place and crane, and test period is longer, and process of the test is unfavorable for operation, and consuming time, expends goods and materials and manpower.
Summary of the invention
For solving the problem that exists in the above-mentioned technology, the invention provides a kind of method of ro-ro passenger ship incline test, reach the cost of saving shipbuilding and alleviate equipment and artificial working strength.
For realizing goal of the invention, the technical solution used in the present invention provides a kind of method of ro-ro passenger ship incline test, and this method includes following steps:
1. arrange the equipment and the instrument of test
Two groups of the required heavy iron of test are arranged on respectively on the port and starboard trailer deck of ro-ro passenger ship oceangoing ship, promptly along captain's direction in the ship to be symmetrical position, boundary, decide according to the beam, be placed on position near board, set boats and ships in heel 1.5 angles, according to the Ship Statics formula, the angle of heel of prediction boats and ships is: and θ max=arctg (w * d/ (Δ * GM))
Wherein: θ: angle of heel
W: mobile weight (t)
D: move apart from (m)
Δ: the draining under the test condition (t)
GM: the initial metacentric height of unmodified (m)
For satisfying the angle of inclination after the above-mentioned formula of 1.5 degree utilizations pushes over out the concrete numerical value of mobile weight, prepare a forklift in the stowage rolling of ro-ro passenger ship oceangoing ship in addition, according to the ro-ro passenger ship oceangoing ship in order to the used heavy iron of carrying test.
2. measure the amplitude of oscillation of cycloid
The amplitude of oscillation that the point measurement cycloid is got in three positions of tail from ro-ro passenger ship oceangoing ship bow in the test, therefore the ro-ro passenger ship oceangoing ship roll bow in the stowage, in, three positions of tail bolt extension pendulum and record the length of cycloid, pendulum is placed in the tank that fills water, two meters long Steel Ruler are fixed on the upper surface of tank, so that in process of the test, measure the amplitude of oscillation of cycloid;
3. process of the test
3.-1, on the trailer deck of ro-ro passenger ship oceangoing ship, after ro-ro passenger ship oceangoing ship port and starboard is respectively placed equiponderant two groups heavy iron, make boats and ships reach initial equilibrium conditions.Unclamp the hawser of ro-ro passenger ship oceangoing ship this moment, the ro-ro passenger ship oceangoing ship is in freely drift and about the even state of rolling, testing crew measure near the pendulum cycloid about the secondary value of pendulum, measure ten groups of data and average, determine the initial value of cycloid;
3.-2 after, the initial value test figures of cycloid is obtained, the forklift that utilization is rolled in the stowage weighs the position that iron moves to ro-ro passenger ship oceangoing ship larboard with one group on the ro-ro passenger ship oceangoing ship starboard trailer deck, being that axis and original weight iron are put symmetry in the ship, this moment, the ro-ro passenger ship oceangoing ship produced an angle of heel, testing crew according to this moment cycloid the position and the difference of the initial value of initial position cycloid, it is the amplitude of cycloid, the long tangent of the amplitude of oscillation of using formula cycloid and cycloid is measured the angle of heel of boats and ships this moment, this formula is tgo=a/r, wherein: the a=cycloid amplitude of oscillation, the r=cycloid is long; The order of putting with this heavy iron according to following repeated trial, obtains nine groups of data altogether;
3.-3, after 3. described-2 data measuring and calculating finishes, the other one group heavy iron of ro-ro passenger ship oceangoing ship starboard is moved to the symmetric position of larboard according to ship center line and original position, the relational expression long with cycloid according to the described amplitude of oscillation calculated boats and ships angle of heel at this moment;
3.-4, the one group heavy iron that will be 3. moves on to larboard in-2 processes is retracted the starboard original position, measuring and calculating boats and ships angle of heel again;
3.-5, this group process is that the heavy iron of another group that will move to larboard in 3.-3 process is moved back into the starboard original position, measuring and calculating boats and ships angle of heel again;
3.-6, be under 3.-5 state, last group heavy iron of larboard is moved to the starboard symmetric position, measuring and calculating boats and ships angle of heel;
3.-7 be under 3.-6 state, the back one group heavy iron of larboard to be moved to the starboard symmetric position, measuring and calculating boats and ships angle of heel;
3.-8, the one group heavy iron that will be 3. moves on to starboard in-6 processes is moved back into the larboard original position, measuring and calculating boats and ships angle of heel again;
3.-9, the heavy iron of another group that will be 3. moves on to starboard in-7 processes is moved back into the larboard original position again, heavy iron is placed by initial position again, measuring and calculating boats and ships angle of heel;
4. above-mentioned nine groups of data of being got are carried out the measurements and calculations of boats and ships angle of heel, press the nine groups of angles of inclination formula among the substitution step θ max=arctg (w * d/ (Δ * GM)) respectively during resulting boats and ships tilt in the said process, displacement draws according to the drinking water state computation in when test, go out the boats and ships angle of inclination by the derivation of equation, and calculate the inclination restorability and the stability of boats and ships thus.
The effect that the present invention reaches is the utilization of this kind method, utilizes the combination fast and effectively of the efficient and convenient of fork truck and band cable.The minimizing time of big limit, the consumption of resource and manpower has improved production efficiency.Test period less than 2 hours, more traditional test method shortened dramatically in 12 hours, and relevant chain type reflection is the shortening of test time itself, for the condition that follow-up construction debugging is created, has saved taking for a long time of crane and tugboat.And under berthing the situation of two ships in same berth, needn't drag harbour away from, also create condition for the underwater construction of boats and ships to testing outer boats and ships.Interpretation of result by test.The employing data of this test are accurate, and reliable, process itself is easy, and construction has manipulative capability, can adopt in ro-ro passenger ship series ship.
Description of drawings
Fig. 1 puts sequential schematic for the heavy iron of inclining test process.
The specific embodiment
Reaching embodiment in conjunction with the accompanying drawings is illustrated a kind of inclining test method at ro-ro passenger ship of the present invention.
The method of a kind of ro-ro passenger ship incline test of the present invention has following condition as assurance:
1. in the process of the test, the weight of heavy iron makes boats and ships guarantee that the angle of inclination in 1.5 degree, can weigh the measuring and calculating of iron weight according to the principal dimensions of different boats and ships according to formula.
2. ro-ro passenger ship ship type characteristics are openr, smooth for rolling stowage, can make things convenient for forklift to transport heavy iron in the cabin.This is the necessary condition of this test method.Decide according to the beam, will weigh the position that iron is placed on close board, make the moment of heavy iron bigger relatively.
To the theoretical result of calculation of this method, its maximum boats and ships angle of heel satisfies classification society and requires.In test, heavy iron has eight kinds of different putting positions, and boats and ships have nine kinds of state estimating angles of heel.
Inclining test with the big 3# railway car ferries of construction cigarette ferryboat is an example, in this test set up procedure, roll at ro-ro passenger ship and to adorn under comparatively smooth, the open condition in regional deck, place foundary weight in the trailer deck zone, utilize fork truck in the cabin, to move middle heavy iron, and utilize winch to be with and pull, pine pulls realizes that the inclination rolling that boats and ships need is a kind of very easy test method.
The method of this ro-ro passenger ship incline test includes following steps:
1. arrange the equipment and the instrument of test
Two groups of the required heavy iron of test are arranged on respectively on the port and starboard trailer deck of ro-ro passenger ship oceangoing ship, promptly along captain's direction in the ship to be symmetrical position, boundary, decide according to the beam, be placed on position near board, set boats and ships in heel 1.5 angles, according to the Ship Statics formula, the angle of heel of prediction boats and ships is: θ max=arctg (w * d/ (Δ * GM))=1.461
Wherein: θ: angle of heel
W: mobile weight (t) 56
D: move apart from (m) 21.4
Δ: the draining under the test condition (t) 9148.0
GM: the initial metacentric height of unmodified (m) 5.137
Determine totally 56 tons of the total weightes of two groups of heavy iron of port and starboard according to the ro-ro passenger ship oceangoing ship, prepare a forklift in the stowage rolling of ro-ro passenger ship oceangoing ship in addition, test used heavy iron in order to carrying.
2. measure the amplitude of oscillation of cycloid
The amplitude of oscillation that the point measurement cycloid is got in three positions of tail from ro-ro passenger ship oceangoing ship bow in the test, therefore the ro-ro passenger ship oceangoing ship roll bow in the stowage, in, three positions of tail bolt extension pendulum and record the length of cycloid, pendulum is placed in the tank that fills water, two meters long Steel Ruler are fixed on the upper surface of tank, so that in process of the test, measure the amplitude of oscillation of cycloid.
3. process of the test
3.-1, on the trailer deck of ro-ro passenger ship oceangoing ship, after ro-ro passenger ship oceangoing ship port and starboard is respectively placed equiponderant two groups heavy iron, as the heavy iron of NO.1 among Fig. 1 position, this moment, the hawser with the ro-ro passenger ship oceangoing ship unclamped, the ro-ro passenger ship oceangoing ship is in freely drift and about the even state of rolling, testing crew is the secondary value of pendulum about near the measurement cycloid pendulum, measures ten groups of data and averages, and determines the initial value of cycloid.
3.-2, after the initial value test figures of cycloid is obtained, the forklift that utilization is rolled in the stowage weighs the position that iron moves to ro-ro passenger ship oceangoing ship larboard with one group on the ro-ro passenger ship oceangoing ship starboard trailer deck, being that axis and original weight iron are put symmetry in the ship, shown in NO.2 among Fig. 1, this moment, the ro-ro passenger ship oceangoing ship produced an angle of heel, testing crew according to this moment cycloid the position and the difference of the initial value of initial position cycloid, it is the amplitude of cycloid, the long tangent of the amplitude of oscillation of using formula cycloid and cycloid is measured the angle of heel of boats and ships this moment, this formula is tgo=a/r, wherein: the a=cycloid amplitude of oscillation, the r=cycloid is long; The order of putting with this heavy iron according to following repeated trial, obtains nine groups of data altogether.
3.-3 after, 3. described-2 data measuring and calculating finishes, the other one group heavy iron of ro-ro passenger ship oceangoing ship starboard is moved to the symmetric position of larboard according to ship center line and original position, shown in NO.3 among Fig. 1, according to the described amplitude of oscillation and the long relational expression of cycloid, measuring and calculating boats and ships angle of heel at this moment; Because all heavy iron all move to an other side of a ship on this moment one side of a ship, so the time boats and ships angle of heel reach maximum.
3.-4, shown in NO.4 state among Fig. 1, this group process is that the one group heavy iron that will move on to larboard in 3.-2 process is retracted the starboard original position again, shown in NO.4 among Fig. 1, measuring and calculating boats and ships angle of heel;
3.-5, shown in NO.5 state among Fig. 1, this group process is under the NO.2 state, the heavy iron of another group that moves to larboard in 3.-3 process is moved back into the starboard original position again shown in NO.5 among Fig. 1, measuring and calculating boats and ships angle of heel;
3.-6, shown in NO.6 state among Fig. 1, this group process is that one group of larboard heavy iron is moved to the starboard symmetric position, shown in NO.6 among Fig. 1, measuring and calculating boats and ships angle of heel;
3.-7, shown in NO.7 state among Fig. 1, this group process is that the heavy iron of another group with larboard moves to the starboard symmetric position, shown in NO.7 among Fig. 1, measuring and calculating boats and ships angle of heel;
3.-8, shown in NO.8 state among Fig. 1, this group process is that the one group heavy iron that will move on to starboard in 3.-6 process is moved back into the larboard original position again, shown in NO.8 among Fig. 1, measuring and calculating boats and ships angle of heel;
3.-9, shown in NO.9 state among Fig. 1, this group process is that the heavy iron of another group that will move on to starboard in 3.-7 process is moved back into the larboard original position again, shown in NO.9 among Fig. 1, heavy iron is placed by initial position again, measuring and calculating boats and ships angle of heel;
4. to NO.1-NO9 among above-mentioned Fig. 1, totally nine groups of data of being got are carried out the measurements and calculations of boats and ships angle of heel, press the nine groups of angles of inclination formula of substitution steps in 1. respectively during resulting boats and ships tilt in the said process, displacement draws according to the drinking water state computation in when test, go out the boats and ships angle of inclination by the derivation of equation, and calculate the inclination restorability and the stability of boats and ships thus.Go out the boats and ships angle of inclination by the derivation of equation, and calculate the inclination restorability and the stability of boats and ships thus.
The shadow region is the position of actual weight iron, and white space is the position that need replace.The ballast total weight is about the vessel displacement of 0.5%-1.0% during test, and expection makes boats and ships produce the angle of heel of 1-2.In order to pass through to hang the amplitude of oscillation and the cycloid long tangent tgo=a/r of hammer in the angle of inclination of surveying at the free surface pendulum, a is the cycloid amplitude of oscillation, r is that cycloid is long, for the first time during inclining test, do not move heavy iron and measure the pendulum amplitude that the flat trim of boats and ships is put, whenever move once heavy iron later on, the amplitude that the duplicate measurements cycloid moves is measured eight groups of data.With the big train ferry of cigarette is that example gained data are seen following form:
Displacement under the test condition calculate be read during by test real draft calculate, the drinking water of test bow during according to ship test, in, the aviation value of the drinking water of tail, promptly (the middle drinking water of draught forward+6 times+tail drinking water)/8 deduct the thickness of plate keel plate, calculate the Mean Draft amount, according to hydrostatic curve splines interpolation, try to achieve cooresponding displacement and transverse metacentric height Z and longitudinal center of buoyancy X.Concrete observed data is referring to the test data analyzer table.
The test data analyzer table
Claims (1)
1, a kind of method of ro-ro passenger ship incline test, this method includes following steps:
1. arrange the equipment and the instrument of test
Two groups of the required heavy iron of test are arranged on respectively on the port and starboard trailer deck of ro-ro passenger ship oceangoing ship, promptly along captain's direction in the ship to be symmetrical position, boundary, decide according to the beam, be placed on position near board, set boats and ships in heel 1.5 angles, according to the Ship Statics formula, the angle of heel of prediction boats and ships is: and θ max=arctg (w * d/ (Δ * GM))
Wherein: θ: angle of heel
W: mobile weight (t)
D: move apart from (m)
Δ: the draining under the test condition (t)
GM: the initial metacentric height of unmodified (m)
For satisfying the angle of inclination after the above-mentioned formula of 1.5 degree utilizations pushes over out the concrete numerical value of mobile weight, prepare a forklift in the stowage rolling of ro-ro passenger ship oceangoing ship in addition, according to the ro-ro passenger ship oceangoing ship in order to the used heavy iron of carrying test.
2. measure the amplitude of oscillation of cycloid
The amplitude of oscillation that the point measurement cycloid is got in three positions of tail from ro-ro passenger ship oceangoing ship bow in the test, therefore the ro-ro passenger ship oceangoing ship roll bow in the stowage, in, three positions of tail bolt extension pendulum and record the length of cycloid, pendulum is placed in the tank that fills water, two meters long Steel Ruler are fixed on the upper surface of tank, so that in process of the test, measure the amplitude of oscillation of cycloid;
3. process of the test
3.-1, on the trailer deck of ro-ro passenger ship oceangoing ship, after ro-ro passenger ship oceangoing ship port and starboard is respectively placed equiponderant two groups heavy iron, make boats and ships reach initial equilibrium conditions.Unclamp the hawser of ro-ro passenger ship oceangoing ship this moment, the ro-ro passenger ship oceangoing ship is in freely drift and about the even state of rolling, testing crew measure near the pendulum cycloid about the secondary value of pendulum, measure ten groups of data and average, determine the initial value of cycloid;
3.-2 after, the initial value test figures of cycloid is obtained, the forklift that utilization is rolled in the stowage weighs the position that iron moves to ro-ro passenger ship oceangoing ship larboard with one group on the ro-ro passenger ship oceangoing ship starboard trailer deck, being that axis and original weight iron are put symmetry in the ship, this moment, the ro-ro passenger ship oceangoing ship produced an angle of heel, testing crew according to this moment cycloid the position and the difference of the initial value of initial position cycloid, it is the amplitude of cycloid, the long tangent of the amplitude of oscillation of using formula cycloid and cycloid is measured the angle of heel of boats and ships this moment, this formula is tgo=a/r, wherein: the a=cycloid amplitude of oscillation, the r=cycloid is long; The order of putting with this heavy iron according to following repeated trial, obtains nine groups of data altogether;
3.-3, after 3. described-2 data measuring and calculating finishes, the other one group heavy iron of ro-ro passenger ship oceangoing ship starboard is moved to the symmetric position of larboard according to ship center line and original position, the relational expression long with cycloid according to the described amplitude of oscillation calculated boats and ships angle of heel at this moment;
3.-4, the one group heavy iron that will be 3. moves on to larboard in-2 processes is retracted the starboard original position, measuring and calculating boats and ships angle of heel again;
3.-5, this group process is that the heavy iron of another group that will move to larboard in 3.-3 process is moved back into the starboard original position, measuring and calculating boats and ships angle of heel again;
3.-6, be under 3.-5 state, last group heavy iron of larboard is moved to the starboard symmetric position, measuring and calculating boats and ships angle of heel;
3.-7 be under 3.-6 state, the back one group heavy iron of larboard to be moved to the starboard symmetric position, measuring and calculating boats and ships angle of heel;
3.-8, the one group heavy iron that will be 3. moves on to starboard in-6 processes is moved back into the larboard original position, measuring and calculating boats and ships angle of heel again;
3.-9, the heavy iron of another group that will be 3. moves on to starboard in-7 processes is moved back into the larboard original position again, heavy iron is placed by initial position again, measuring and calculating boats and ships angle of heel;
4. the data of being got in above-mentioned nine groups of processes are carried out the measurements and calculations of boats and ships angle of heel, press the nine groups of angles of inclination formula of substitution steps in 1. respectively during resulting boats and ships tilt in the said process, displacement draws according to the drinking water state computation in when test, go out the boats and ships angle of inclination by the derivation of equation, and calculate the inclination restorability and the stability of boats and ships thus.
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| CNA2008101541818A CN101508327A (en) | 2008-12-17 | 2008-12-17 | Ro-ro passenger ship incline test method |
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| CN104724252A (en) * | 2013-12-20 | 2015-06-24 | 中核建中核燃料元件有限公司 | Tying and fixing method for vehicles on roll-on/roll-off ship |
| CN106428419A (en) * | 2016-09-13 | 2017-02-22 | 江苏科技大学 | Ship model rolling attenuation remote test system and test method |
| CN106781969A (en) * | 2016-12-16 | 2017-05-31 | 青岛海之源智能技术有限公司 | A kind of instruments used for education for demonstrating free surface effect |
| CN107458553A (en) * | 2017-07-28 | 2017-12-12 | 广船国际有限公司 | A kind of modification method of drauht value |
| CN107745783A (en) * | 2017-10-10 | 2018-03-02 | 中国水产科学研究院渔业机械仪器研究所 | A kind of automatic measuring equipment of fishing boat inclining experiment |
| CN108153976A (en) * | 2017-12-25 | 2018-06-12 | 重庆华渝电气集团有限公司 | The emulation mode and host computer of naval vessel rolling motion in a kind of wave |
| CN108974251A (en) * | 2018-07-27 | 2018-12-11 | 广船国际有限公司 | A kind of ship inclination test U-tube number reading method |
| CN113291436A (en) * | 2021-06-23 | 2021-08-24 | 芜湖造船厂有限公司 | Method for selecting moving weight and weight moving distance of ship inclination test |
| CN113830249A (en) * | 2021-11-01 | 2021-12-24 | 江南造船(集团)有限责任公司 | Inclination test system and method for floating type regasification device |
| CN114034432A (en) * | 2022-01-10 | 2022-02-11 | 招商局邮轮制造有限公司 | Movable inclination test device |
| CN115009461A (en) * | 2022-06-07 | 2022-09-06 | 中国船级社 | Obstacle-crossing type remote control inclination test device and method |
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| CN104724252A (en) * | 2013-12-20 | 2015-06-24 | 中核建中核燃料元件有限公司 | Tying and fixing method for vehicles on roll-on/roll-off ship |
| CN106428419B (en) * | 2016-09-13 | 2018-05-22 | 江苏科技大学 | A kind of ship model roll damping remote trial system and test method |
| CN106428419A (en) * | 2016-09-13 | 2017-02-22 | 江苏科技大学 | Ship model rolling attenuation remote test system and test method |
| CN106781969A (en) * | 2016-12-16 | 2017-05-31 | 青岛海之源智能技术有限公司 | A kind of instruments used for education for demonstrating free surface effect |
| CN107458553A (en) * | 2017-07-28 | 2017-12-12 | 广船国际有限公司 | A kind of modification method of drauht value |
| CN107745783B (en) * | 2017-10-10 | 2020-08-04 | 中国水产科学研究院渔业机械仪器研究所 | Automatic measuring equipment for fishing boat inclination test |
| CN107745783A (en) * | 2017-10-10 | 2018-03-02 | 中国水产科学研究院渔业机械仪器研究所 | A kind of automatic measuring equipment of fishing boat inclining experiment |
| CN108153976A (en) * | 2017-12-25 | 2018-06-12 | 重庆华渝电气集团有限公司 | The emulation mode and host computer of naval vessel rolling motion in a kind of wave |
| CN108153976B (en) * | 2017-12-25 | 2021-10-08 | 重庆华渝电气集团有限公司 | Simulation method for rolling motion of ship in sea waves and upper computer |
| CN108974251A (en) * | 2018-07-27 | 2018-12-11 | 广船国际有限公司 | A kind of ship inclination test U-tube number reading method |
| CN113291436A (en) * | 2021-06-23 | 2021-08-24 | 芜湖造船厂有限公司 | Method for selecting moving weight and weight moving distance of ship inclination test |
| CN113830249A (en) * | 2021-11-01 | 2021-12-24 | 江南造船(集团)有限责任公司 | Inclination test system and method for floating type regasification device |
| CN114034432A (en) * | 2022-01-10 | 2022-02-11 | 招商局邮轮制造有限公司 | Movable inclination test device |
| CN114034432B (en) * | 2022-01-10 | 2022-03-22 | 招商局邮轮制造有限公司 | Movable inclination test device |
| CN115009461A (en) * | 2022-06-07 | 2022-09-06 | 中国船级社 | Obstacle-crossing type remote control inclination test device and method |
| CN115009461B (en) * | 2022-06-07 | 2024-03-29 | 中国船级社 | Obstacle surmounting type remote control inclination test device and method |
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