CN106368820B - Continuous rotation pinking naval vessel - Google Patents

Continuous rotation pinking naval vessel Download PDF

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Publication number
CN106368820B
CN106368820B CN201610971934.9A CN201610971934A CN106368820B CN 106368820 B CN106368820 B CN 106368820B CN 201610971934 A CN201610971934 A CN 201610971934A CN 106368820 B CN106368820 B CN 106368820B
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China
Prior art keywords
rotation
detonation combustor
naval vessel
shell
gas
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CN201610971934.9A
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CN106368820A (en
Inventor
王兵
饶珠明
谢峤峰
计自飞
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Tsinghua University
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Tsinghua University
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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02CGAS-TURBINE PLANTS; AIR INTAKES FOR JET-PROPULSION PLANTS; CONTROLLING FUEL SUPPLY IN AIR-BREATHING JET-PROPULSION PLANTS
    • F02C6/00Plural gas-turbine plants; Combinations of gas-turbine plants with other apparatus; Adaptations of gas- turbine plants for special use
    • F02C6/20Adaptations of gas-turbine plants for driving vehicles
    • F02C6/203Adaptations of gas-turbine plants for driving vehicles the vehicles being waterborne vessels
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02CGAS-TURBINE PLANTS; AIR INTAKES FOR JET-PROPULSION PLANTS; CONTROLLING FUEL SUPPLY IN AIR-BREATHING JET-PROPULSION PLANTS
    • F02C3/00Gas-turbine plants characterised by the use of combustion products as the working fluid
    • F02C3/04Gas-turbine plants characterised by the use of combustion products as the working fluid having a turbine driving a compressor
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02CGAS-TURBINE PLANTS; AIR INTAKES FOR JET-PROPULSION PLANTS; CONTROLLING FUEL SUPPLY IN AIR-BREATHING JET-PROPULSION PLANTS
    • F02C5/00Gas-turbine plants characterised by the working fluid being generated by intermittent combustion
    • F02C5/02Gas-turbine plants characterised by the working fluid being generated by intermittent combustion characterised by the arrangement of the combustion chamber in the chamber in the plant

Abstract

The invention provides a kind of continuous rotation pinking naval vessel, it includes power set and naval vessel main body.Power set include shell, centerbody, rotation detonation combustor, oil circuit component, igniter and drive mechanism.Shell has air intake and exhaust outlet.Centerbody has the intermediate throughholes for axially penetrating through centerbody along centerbody.Rotation detonation combustor is sheathed on centerbody, and the air intake of shell is communicated in rotation detonation combustor.Oil circuit component is controlled to be communicated in rotation detonation combustor.Igniter is fixedly installed on rotation detonation combustor, and the combustion gas for entering the fuel and air formation that rotate in detonating combustion room is lighted a fire, and then combustion gas rotation detonating combustion.Drive mechanism includes calming the anger with component, power turbine and power transmission shaft.Power turbine is moved under the gas-powered after rotating detonating combustion to be done work to naval vessel main body.Based on rotation pinking technology is employed, its high combustion efficiency, stability and good reliability, save fuel, extend service life.

Description

Continuous rotation pinking naval vessel
Technical field
The present invention relates to power technology field, more particularly to a kind of continuous rotation pinking naval vessel.
Background technology
At present, gas turbine due to efficiency high, power is big, reliability and automatic controlling level are high many advantages, such as, Through the preferred engine as large and medium-sized naval vessel, advanced aeronautical technology has obtained further should in Vessel personnel With.But with the lifting of "Oceanic" strategy status, requirement of the military boats and ships for flexibility, lifting capacity and stability is increasingly Height, ship for civil use is also increasing for the demand of high tonnage, the high speed of a ship or plane, and this just needs the engine of more power to drive. Meanwhile with the reduction of global energy reserves, the cost more and more higher of fuel, reducing fuel consumption becomes naval technology The key breakthrough points.Therefore, gas turbine develops towards higher efficiency and more powerful direction.
The content of the invention
In view of problem present in background technology, continuously rotates pinking naval vessel it is an object of the invention to provide a kind of, its High combustion efficiency, stability and the good reliability of power set, save fuel, extend service life.
To achieve these goals, the invention provides a kind of continuous rotation pinking naval vessel, it includes power set and warship Vessel main body.Power set provide power, including shell, centerbody, rotation detonation combustor, oil circuit component, point for naval vessel main body Firearm and drive mechanism.
Shell has:Air intake, the front end of shell is arranged at, in a ring, connects outside atmosphere;And exhaust outlet, if It is placed in the rear end of shell.Centerbody is in the form of a column, and is fixedly installed on the middle part of shell, and have along centerbody and axially penetrate through center The intermediate throughholes of body.Rotation detonation combustor is sheathed on centerbody and is fixedly connected on shell, and the air intake connection of shell In rotation detonation combustor, with air-supplied to rotation detonation combustor.Oil circuit component is controlled to be communicated in rotation detonation combustor, To provide fuel to rotation detonation combustor.Igniter is fixedly installed on rotation detonation combustor, for quick-fried to entering rotation The combustion gas that fuel and air in shake combustion chamber are formed is lighted a fire, and then combustion gas rotation detonating combustion.Drive mechanism includes:Pressure Gas component, the intermediate throughholes of centerbody are arranged in, for compressing the air entered in shell;Power turbine, in rotation pinking Rotary motion under gas-powered after burning;And power transmission shaft, one end is connected to power turbine, and the other end is connected to naval vessel master Body, to realize that power turbine does work to naval vessel main body.
Beneficial effects of the present invention are as follows:
In the continuous rotation pinking naval vessel according to the present invention, power set are situated between using the gas continuously flowed as work Matter, by will be mixed in outside atmosphere and fuel feeding rotation detonation combustor and rotate detonating combustion to produce HTHP Combustion gas, then utilize combustion gas the calming the anger with component and power turbine expansion work, now combustion gas to drive mechanism of HTHP A part of heat energy be converted into the mechanical energy of power turbine and make power turbine rotary motion.Because power turbine is via power transmission shaft Naval vessel main body is connected to, so as to realize that power turbine does work to naval vessel main body.The continuous rotation pinking naval vessel of the present invention is based on adopting With rotation pinking technology, it has higher efficiency of combustion, saves fuel compared with traditional deflagration burning.In addition, rotation It is more stable to turn detonating combustion, improves the stability and reliability of power set, extends service life.
Brief description of the drawings
Fig. 1 is the overall structure diagram according to the continuous rotation pinking naval vessel of the present invention;
Fig. 2 is the structural representation calmed the anger with component in Fig. 1;
Fig. 3 is the structural representation of the power turbine in Fig. 1;
Fig. 4 is the overall structure stereogram of the interior annular flow distribution plate in Fig. 1 and exterior annular flow distribution plate;
Fig. 5 is Fig. 4 deformation pattern;
Fig. 6 is the sectional view after line A-A cutting along Fig. 1;
Fig. 7 is the sectional view after line B-B cutting along Fig. 1.
Wherein, description of reference numerals is as follows:
The compressor of 1 power set 1611
The high-pressure turbine of 11 shell 1612
The rotating shaft of 111 air intake 1613
The power turbine of 112 exhaust outlet 162
The power transmission shaft of 12 centerbody 163
The interior annular flow distribution plate of 121 intermediate throughholes 17
The perforate of 122 outside wall surface 171
The 13 rotation exterior annular flow distribution plates of detonation combustor 18
131 air inlets 181 are open
132 inwalls 19 blend room
133 outer wall C1 clutch shaft bearings
134 the first gas channels of gas outlet T1
135 annular firing chamber the second gas channels of T2
14 the first adjustable guiders of oil circuit component F1
141 the second adjustable guiders of oil feed line F2
142 cartridge P blast pipes
143 nozzle G boilers
The naval vessel main body of 15 igniter 2
The decelerator of 16 drive mechanism 3
161, which calm the anger, uses component
Embodiment
With reference to the accompanying drawings come describe in detail according to the present invention continuous rotation pinking naval vessel.
Referring to figs. 1 to Fig. 7, according to the continuous rotation pinking naval vessel of the present invention, it includes power set 1 and naval vessel main body 2 (referring mainly to warship propeller for ship here).Power set 1 are that naval vessel main body 2 provides power, including shell 11, centerbody 12, rotation Turn detonation combustor 13, oil circuit component 14, igniter 15 and drive mechanism 16.
Shell 11 has:Air intake 111, the front end of shell 11 is arranged at, in a ring, connects outside atmosphere;And row Gas port 112, it is arranged at the rear end of shell 11.Centerbody 12 is in the form of a column, and is fixedly installed on the middle part of shell 11, and have along center The intermediate throughholes 121 for axially penetrating through centerbody 12 of body 12.Rotation detonation combustor 13 is sheathed on centerbody 12 and is fixedly connected Rotation detonation combustor 13 is communicated in the air intake 111 of shell 11, and shell 11, to be fed to rotation detonation combustor 13 Air.Oil circuit component 14 is controlled to be communicated in rotation detonation combustor 13, to provide fuel to rotation detonation combustor 13.Igniter 15 are fixedly installed on rotation detonation combustor 13, for entering the fuel and air formation that rotate in detonation combustor 13 Combustion gas is lighted a fire, and then combustion gas rotation detonating combustion.Drive mechanism 16 includes:Calm the anger and use component 161, be arranged in centerbody 12 Intermediate throughholes 121, for compress enter shell 11 in air;Power turbine 162, the gas after detonating combustion is rotated drive Dynamic lower rotary motion;And power transmission shaft 163, one end is connected to power turbine 162, and the other end is connected to naval vessel main body 2, with reality Existing power turbine 162 does work to naval vessel main body 2.
In the continuous rotation pinking naval vessel according to the present invention, power set 1 are using the gas continuously flowed as work Medium, by will be mixed in outside atmosphere and fuel feeding rotation detonation combustor 13 and rotate detonating combustion to produce high temperature height Compression ignition gas, then the calming the anger with component 161 and the expansion work of power turbine 162 to drive mechanism 16 using high-temperature high-pressure fuel gas, Now a part of heat energy of high-temperature high-pressure fuel gas is converted into the mechanical energy of power turbine 162 and makes the rotary motion of power turbine 162. Because power turbine 162 via power transmission shaft 163 is connected to naval vessel main body 2, so as to realize that power turbine 162 is done to naval vessel main body 2 Work(.The continuous rotation pinking naval vessel of the present invention is based on employing rotation pinking technology, and it has compared with traditional deflagration burning Higher efficiency of combustion, saves fuel.In addition, rotation detonating combustion is more stable, improve power set 1 stability and Reliability, extend service life.
In the continuous rotation pinking naval vessel according to the present invention, reference picture 1, the continuous pinking naval vessel that rotates may also include:Subtract Fast device 3, it is arranged on the power transmission shaft 163 between power turbine 162 and naval vessel main body 2, power turbine 162 connects via decelerator 3 Naval vessel main body 2 is connected to so that naval vessel main body 2 is moved under the driving of power turbine 162.
In the continuous rotation pinking naval vessel according to the present invention, reference picture 1, calm the anger may include with component 161:Compressor 1611, it is arranged at the upstream of rotation detonation combustor 13;High-pressure turbine 1612, it is arranged at the downstream of rotation detonation combustor 13; And rotating shaft 1613, the intermediate throughholes 121 of centerbody 12 are worn, for connecting compressor 1611 and high-pressure turbine 1612.Wherein, The high-temperature high-pressure fuel gas discharged in rotation detonation combustor 13 are to the expansion work of high-pressure turbine 1612, the rotation fortune of high-pressure turbine 1612 Move and drive compressor 1611 to work by rotating shaft 1613 to be compressed to entering the air in shell 11.
In the continuous rotation pinking naval vessel according to the present invention, reference picture 1, first rotating shaft 1613 can pass through clutch shaft bearing C1 It is connected to centerbody 12.
In the continuous rotation pinking naval vessel according to the present invention, reference picture 1, rotation detonation combustor 13 can have:Air inlet Mouth 131;Formed with the first gas channel T1 between inwall 132, and the outside wall surface 122 of centerbody 12;Outer wall 133, with inwall 132 The annular firing chamber 135 of rotation detonation combustor 13 is formed together, and the air intake 111 of shell 11 connects via air inlet 131 In annular firing chamber 135 with air-supplied to annular firing chamber 135, and formed with the second air-flow between outer wall 133 and shell 11 Passage T2;And gas outlet 134, for the gas discharge rotation detonation combustor 13 after rotation detonating combustion.Wherein, first is flowed through Air in gas channel T1 and the second gas channel T2 is mainly used in cooling rotation detonation combustor 13.
Remark additionally herein, compared with the combustion chamber of traditional power set, continuous rotation pinking of the invention The size of rotation detonation combustor 13 in naval vessel is relatively small, so as to reduce the overall dimensions of power set 1.
According to the continuous rotation pinking naval vessel of the present invention, in one embodiment, reference picture 1, detonation combustor 13 is rotated Front portion can be the big irregular deformation cavity in middle narrow two (being used for the pressure for changing the air entered via air inlet 131), And afterbody (part of finger ring shape combustion chamber 135) can be the circular cylindrical cavity (being used to rotate detonating combustion) of rule.Here, due to rotation The afterbody for turning detonation combustor 13 is prismatic, therefore the combustion process in annular firing chamber 135 is by compression ignitions such as in generals Burning is changed into approximate isochoric combustion, and it is fast to significantly improve efficiency of combustion, burning velocity, and then it is bigger to be that naval vessel main body 2 provide Power.
According to the continuous rotation pinking naval vessel of the present invention, in one embodiment, reference picture 1, power set 1 may also include: Interior annular flow distribution plate 17, the first gas channel T1 porch is arranged at, for adjusting the sky entered in the first gas channel T1 Throughput.
In one embodiment, reference picture 5 and Fig. 6, interior annular flow distribution plate 17 can be lamina, run through on lamina and set There is perforate 171 to admit air into the first gas channel T1.
In one embodiment, reference picture 4 and Fig. 6, interior annular flow distribution plate 17 can be doubling plate, run through on each laminate and set Perforate 171 is equipped with to admit air into the first gas channel T1.Wherein, the wherein laminate in doubling plate is fixedly connected on center Body 12 and rotation detonation combustor 13 inwall 132, and another laminate can rotary motion enter the first gas channel to adjust T1 air mass flow.Here, interior annular flow distribution plate 17 changes perforate 171 based on the dislocation between two layers in doubling plate Size, and then realize the regulation of air mass flow.
According to the continuous rotation pinking naval vessel of the present invention, in one embodiment, reference picture 1, power set 1 may also include: Exterior annular flow distribution plate 18, the second gas channel T2 porch is arranged at, for adjusting the sky entered in the second gas channel T2 Throughput.
In one embodiment, reference picture 5 and Fig. 6, exterior annular flow distribution plate 18 can be lamina, run through on lamina and set There is opening 181 to admit air into the second gas channel T2.
In one embodiment, reference picture 4 and Fig. 6, exterior annular flow distribution plate 18 can be doubling plate, run through on each laminate and set Opening 181 is equipped with to admit air into the second gas channel T2.Wherein, the wherein laminate in doubling plate is fixedly connected on shell 11 and rotation detonation combustor 13 outer wall 133, and another laminate can rotary motion enter the second gas channel T2 to adjust Air mass flow.Here, exterior annular flow distribution plate 18 changes the big of opening 181 based on the dislocation between two layers in doubling plate It is small, and then realize the regulation of air mass flow.
In the continuous rotation pinking naval vessel according to the present invention, reference picture 1 and Fig. 7, oil circuit component 14 may include:Fuel feed pump Road 141;Cartridge 142, the outer wall 133 of rotation detonation combustor 13 is arranged at, is communicated in oil feed line 141 and rotation pinking combustion Burn the annular firing chamber 135 of room 13;And multiple nozzles 143, be disposed through rotate detonation combustor 13 outer wall 133 with Position corresponding to cartridge 142, so that the fuel in cartridge 142 enters rotation detonation combustor 13 via nozzle 143.
In the continuous rotation pinking naval vessel according to the present invention, reference picture 1, power set 1 may also include:Room 19 is blended, Connect the first gas channel T1, the second gas channel T2 and rotate the gas outlet 134 of detonation combustor 13, so that the air of cooling Blended with the gas after rotation detonating combustion.
According to the continuous rotation pinking naval vessel of the present invention, in one embodiment, reference picture 1, power set 1 may also include: First adjustable guider F1, is fixedly installed at the air intake 111 of shell 11;And the second adjustable guider F2, fixation are set It is placed in the porch of power turbine 162.First adjustable guider F1 is used for the flow direction for adjusting the air entered in shell 11, And the second adjustable guider F2 is used for regulation into the flow direction of the high-temperature high-pressure fuel gas in power turbine 162 to control power The rotating speed and rotation direction of turbine 162 (such as under brake condition).
In the continuous rotation pinking naval vessel according to the present invention, reference picture 1, the continuous pinking naval vessel that rotates may also include:Row Tracheae P, the exhaust outlet 112 for being arranged on the afterbody of shell 11 sentence the tail gas extraction for discharging power set 1.Due to the company of the present invention Continuous rotation pinking naval vessel employs detonating combustion technology, and ratio of combustion is more abundant, causes the air such as caused nitrogen oxide in tail gas The content of pollutant substantially reduces, so as to reduce the pollution to environment.
In the continuous rotation pinking naval vessel according to the present invention, reference picture 1, the continuous pinking naval vessel that rotates may also include:Pot Stove G, blast pipe P is communicated in so that the tail gas in blast pipe P heats to boiler G, to realize the recycling of used heat, so as to save The about energy.Such as, caused steam can be used for generating electricity or heating for continuous rotation pinking naval vessel in boiler G.

Claims (8)

1. a kind of continuous rotation pinking naval vessel, including:
Naval vessel main body (2);
Power set (1), power is provided for naval vessel main body (2);
Characterized in that, power set (1) include:
Shell (11), it is the cylinder of single integral type, has:
Air intake (111), the front end of shell (11) is arranged at, in a ring, connects outside atmosphere;And
Exhaust outlet (112), it is arranged at the rear end of shell (11);
Centerbody (12), is in the form of a column, and is fixedly installed on the middle part of shell (11), and with along the axially penetrating through of centerbody (12) The intermediate throughholes (121) of heart body (12);
Detonation combustor (13) is rotated, centerbody (12) is sheathed on and is fixedly connected on shell (11), have:
Air inlet (131);
Inwall (132), in a ring, formed with the first gas channel (T1) between the outside wall surface (122) of centerbody (12);
Outer wall (133), in a ring, the annular firing chamber (135) of rotation detonation combustor (13) is formed together with inwall (132), Formed with the second gas channel (T2) between outer wall (133) and shell (11);And
Gas outlet (134), for the annular firing chamber of the gas discharge rotation detonation combustor (13) after rotation detonating combustion (135);
Oil circuit component (14), including:
Oil feed line (141);
Cartridge (142), the outer wall (133) of rotation detonation combustor (13) is arranged at, is communicated in oil feed line (141) and rotation The annular firing chamber (135) of detonation combustor (13);And
Multiple nozzles (143), be disposed through rotate detonation combustor (13) outer wall (133) it is corresponding with cartridge (142) Position and be directly protruding into rotation detonation combustor (13) annular firing chamber (135) so that in cartridge (142) fuel warp Enter the annular firing chamber (135) of rotation detonation combustor (13) by nozzle (143);
Igniter (15), positioned at the downstream of nozzle (143) and be fixedly installed on rotation detonation combustor (13) outer wall (133), The combustion gas formed for the fuel in the annular firing chamber (135) to entering rotation detonation combustor (13) and air is carried out a little Fire, and then combustion gas rotation detonating combustion;
Drive mechanism (16), including:
Calm the anger and use component (161), be arranged in the intermediate throughholes (121) of centerbody (12), enter for compressing in shell (11) Air, including the compressor (1611) being arranged between rotation detonation combustor (13) and the air intake (111) of shell (11), The downstream of compressor (1611) and the first gas channel (T1), the second gas channel (T2) and rotation detonation combustor (13) Air inlet (131) direct neighbor, via shell (11) air intake (111) enter air via compressor (1611) press The air inlet (131) of rotation detonation combustor (13) is directly entered after contracting with the annular firing of infeed rotation detonation combustor (13) In chamber (135), the direction of fuel of annular firing chamber (135) is entered via each nozzle (143) with being fed via air inlet (131) The direction of the air of annular firing chamber (135) is vertical and direct mixed combustion;
Power turbine (162), the rotary motion under the gas-powered after rotating detonating combustion;And
Power transmission shaft (163), one end is connected to power turbine (162), and the other end is connected to naval vessel main body (2), so that naval vessel master Body (2) moves under the driving of power turbine (162);And
Blend room (19), between rotation detonation combustor (13) and power turbine (162), direct neighbor simultaneously directly connects the The gas outlet (134) of one gas channel (T1), the second gas channel (T2) and rotation detonation combustor (13), so that from the first gas The air for the cooling that circulation road (T1) and the second gas channel (T2) come out with from the gas outlet of rotation detonation combustor (13) (134) the gas blending after the rotation detonating combustion of discharge.
2. continuous rotation pinking naval vessel according to claim 1, it is characterised in that continuous rotation pinking naval vessel also includes: Decelerator (3), it is arranged on the power transmission shaft (163) between power turbine (162) and naval vessel main body (2), power turbine (162) warp Naval vessel main body (2) is connected to by decelerator (3) so that naval vessel main body (2) is moved under the driving of power turbine (162).
3. continuous rotation pinking naval vessel according to claim 1, it is characterised in that calm the anger also is included with component (161):
High-pressure turbine (1612), it is arranged at the downstream of rotation detonation combustor (13);And
Rotating shaft (1613), the intermediate throughholes (121) of centerbody (12) are worn, for connecting compressor (1611) and high-pressure turbine (1612)。
4. continuous rotation pinking naval vessel according to claim 1, it is characterised in that power set (1) also include:
Interior annular flow distribution plate (17), the first gas channel (T1) porch is arranged at, enters the first gas channel for adjusting (T1) air mass flow in.
5. continuous rotation pinking naval vessel according to claim 4, it is characterised in that
Interior annular flow distribution plate (17) is doubling plate, and perforate (171) is provided through on each laminate to admit air into first Gas channel (T1);
Wherein, the wherein laminate in doubling plate is fixedly connected on centerbody (12) and rotates the inwall of detonation combustor (13) (132), another laminate can rotary motion with adjust enter the first gas channel (T1) air mass flow.
6. continuous rotation pinking naval vessel according to claim 1, it is characterised in that power set (1) also include:
Exterior annular flow distribution plate (18), the second gas channel (T2) porch is arranged at, enters the second gas channel for adjusting (T2) air mass flow in.
7. continuous rotation pinking naval vessel according to claim 6, it is characterised in that
Exterior annular flow distribution plate (18) is doubling plate, and opening (181) is provided through on each laminate to admit air into second Gas channel (T2);
Wherein, the wherein laminate in doubling plate is fixedly connected on shell (11) and rotates the outer wall of detonation combustor (13) (133), another laminate can rotary motion with adjust enter the second gas channel (T2) air mass flow.
8. continuous rotation pinking naval vessel according to claim 1, it is characterised in that power set (1) also include:
First adjustable guider (F1), it is fixedly installed on air intake (111) place of shell (11);And the second adjustable guider (F2), it is fixedly installed on the porch of power turbine (162).
CN201610971934.9A 2016-10-28 2016-10-28 Continuous rotation pinking naval vessel Active CN106368820B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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CN106368820B true CN106368820B (en) 2018-04-10

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Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2127491A (en) * 1982-09-23 1984-04-11 Rolls Royce Reversible power transmission for a marine gas turbine
US4631914A (en) * 1985-02-25 1986-12-30 General Electric Company Gas turbine engine of improved thermal efficiency
CN101509426B (en) * 2009-03-31 2011-07-27 严政 Turbine shaft engine
CN104153884B (en) * 2014-08-06 2015-10-28 西安热工研究院有限公司 A kind of rotation pinking gas turbine
CN206205997U (en) * 2016-10-28 2017-05-31 清华大学 Continuous rotation pinking naval vessel

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