CN113581435B - Nacelle power instrument attitude adjusting mechanism - Google Patents
Nacelle power instrument attitude adjusting mechanism Download PDFInfo
- Publication number
- CN113581435B CN113581435B CN202110851891.1A CN202110851891A CN113581435B CN 113581435 B CN113581435 B CN 113581435B CN 202110851891 A CN202110851891 A CN 202110851891A CN 113581435 B CN113581435 B CN 113581435B
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- plate
- adjusting mechanism
- rotating
- bottom plate
- pod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
- B63H20/02—Mounting of propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
- B63H20/08—Means enabling movement of the position of the propulsion element, e.g. for trim, tilt or steering; Control of trim or tilt
- B63H20/10—Means enabling trim or tilt, or lifting of the propulsion element when an obstruction is hit; Control of trim or tilt
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
- B63H20/36—Transporting or testing stands ; Use of outboard propulsion units as pumps; Protection of power legs, e.g. when not in use
Abstract
The attitude adjusting mechanism of the pod power instrument comprises a flange, wherein a rotary attitude adjusting mechanism is mounted at the bottom of the flange, a through hole is formed in the middle of the rotary attitude adjusting mechanism, a support rod inner shaft of the pod power instrument is concentrically mounted with the through hole, a transition plate is fixed at the bottom of the rotary attitude adjusting mechanism through a fastener, a six-component balance is mounted at the bottom of the transition plate, a trim attitude adjusting mechanism is mounted at the bottom of the six-component balance, and the support rod inner shaft of the pod power instrument simultaneously penetrates through the middle of the six-component balance and trim attitude adjusting mechanism. Under the cooperation of the pitching attitude adjusting mechanism and the rotating attitude adjusting mechanism, comprehensive adjusting means and high adjusting precision can be realized, the yaw angle of the pod power instrument can be adjusted by automatic means, the high adjusting precision is realized, the fine adjustment of the pitching angle of the pod power instrument is realized, the respective degree of freedom adjustment is simple and convenient, and no mutual coupling exists.
Description
Technical Field
The invention relates to the technical field of ship dynamics test equipment, in particular to a pod power instrument attitude adjusting mechanism, and specifically relates to automatic fine adjustment of a yaw angle and accurate adjustment of a pitch angle of a pod power instrument.
Background
Pod thrusters are increasingly being used on a variety of boat types worldwide by virtue of superior hydrodynamic performance and reliable mounting.
At present, an optimization test aiming at the initial yaw angle of the nacelle propeller becomes an important part of a nacelle propulsion rapidity model test. The hydrodynamic force of the pod power instrument is measured under different attitude angles (including a yaw angle and a pitch angle), so that the energy-saving effect under different attitude angles can be obtained, and the technical support is provided for determining the initial installation angle of the pod propeller.
In the prior art, a special device for simply and conveniently adjusting the attitude of a pod propeller and measuring the hydrodynamic force of a pod unit under different attitude angles does not exist in a water pool laboratory, and the attitude adjustment needs to be carried out on land in a large amount of time, for example, the laboratory rotates a pod power instrument by using scales on a turntable so as to adjust the yaw angle, but the resolution ratio of the scales of the turntable is limited, and the error caused by manually aligning the scales of the turntable is overlarge; and the longitudinal inclination angle is adjusted in a mode of padding a wedge-shaped block below a pod power meter mounting plate, so that the adjustment error is extremely large, the efficiency is very low, then the test is carried out, the test efficiency and the test precision are greatly influenced, and the technical level of pod propulsion test and optimization research is restricted.
Disclosure of Invention
The nacelle power instrument attitude adjusting mechanism effectively solves the problems that the yaw angle and the pitch angle of the nacelle power instrument cannot be adjusted rapidly and accurately, the test efficiency and the test precision are guaranteed, and the reliability of nacelle propulsion test is greatly improved.
The technical scheme adopted by the invention is as follows:
the attitude adjusting mechanism of the pod power instrument comprises a flange, wherein a rotary attitude adjusting mechanism is mounted at the bottom of the flange, a through hole is formed in the middle of the rotary attitude adjusting mechanism, a support rod inner shaft of the pod power instrument is concentrically mounted with the through hole, a transition plate is fixed at the bottom of the rotary attitude adjusting mechanism through a fastener, a six-component balance is mounted at the bottom of the transition plate, a trim attitude adjusting mechanism is mounted at the bottom of the six-component balance, and the support rod inner shaft of the pod power instrument simultaneously penetrates through the middle of the six-component balance and trim attitude adjusting mechanism.
The further technical scheme is as follows:
the structure of the rotary posture adjusting mechanism is as follows: include the carousel of being connected with the flange fastener, the bottom of carousel is the fixed portion, fixed portion internally mounted worm gear mechanism, worm gear mechanism's output and carousel are connected, worm gear mechanism passes through step motor drive, the cab apron has been installed to the bottom surface of fixed portion, the middle part of fixed portion is provided with the opening, install oilless bearing in the opening, oilless bearing passes through the fastener and crosses the cab apron and be connected, axle in oilless bearing's the mid-mounting nacelle dynamometer's the branch.
The stepping motor is connected with the electric cabinet through a network cable, and the electric cabinet is connected with a computer.
The structure of the pitching posture adjusting mechanism is as follows: the device comprises an installation plate, wherein a movable bottom plate is installed on the upper surface of the installation plate through a linear slide rail, rotating bottom plates are installed at four corners of the movable bottom plate through guide shafts respectively, supporting seats are installed at the middle positions of the front end and the rear end of the upper surface of the rotating bottom plate respectively, and a rotating plate is installed between the two supporting seats; the rotating base plate is further provided with a clamping seat, the clamping seat clamps the rotating plate, one end of the rotating plate is sequentially provided with an arc-shaped sliding block, an arc-shaped rail seat and a first connecting plate from inside to outside, the middle of the other end of the rotating plate is provided with a first nut hinged support, the rotating base plate is vertically provided with a second connecting plate, the inner side of the second connecting plate is provided with a second nut hinged support, and a connecting rod is arranged between the first nut hinged support and the second nut hinged support.
The middle parts of the rotating plate, the rotating bottom plate, the moving bottom plate and the mounting plate are all provided with square holes.
The first connecting plate is vertically installed at the end of the rotating bottom plate, an arc-shaped rail seat is fixed on the inner side of the first connecting plate, and an arc-shaped sliding block is installed on the arc-shaped rail seat through a locking screw.
Four threaded holes are formed in the rotating bottom plate, and four adjusting screws penetrate through the threaded holes to abut against the moving bottom plate.
The mounting panel is provided with two parallel linear guide, is equipped with the scale below one of them linear guide, the instruction chi that corresponds with the scale is installed to the removal bottom plate.
The invention has the following beneficial effects:
the invention has compact and reasonable structure and convenient operation, can realize comprehensive adjustment means and higher adjustment precision under the cooperation of the pitching attitude adjusting mechanism and the rotating attitude adjusting mechanism, realizes the adjustment of the yaw angle of the pod dynamic instrument by using an automatic means, has extremely high adjustment precision, realizes the fine adjustment of the pitching angle of the pod dynamic instrument, and has simple and convenient adjustment of the degrees of freedom respectively and no mutual coupling.
The invention effectively solves the problems of low yaw angle adjustment efficiency and poor precision of the pod power instrument in the pool model test, and simultaneously makes it possible to adjust the pitch angle of the pod power instrument in the model test process without interrupting the test process.
The invention uses the combination of the stepping motor and the worm gear to automatically adjust the yaw angle of the pod power instrument, and the worm gear with high rotation speed ratio can provide higher resolution and locking torque for angle control, thereby not only improving the adjustment precision of the yaw angle, but also effectively inhibiting the impact of yaw moment generated by the pod power instrument and the propeller due to the influence of the yaw angle on the rotating attitude adjusting mechanism in the test process.
In order to adjust the pitch angle of the pod power meter and ensure that the center position of a propeller shaft driven by the pod power meter is unchanged after adjustment, the pitch attitude adjusting mechanism has mechanical quantitative adjustment of three degrees of freedom including the pitch angle, the front and back positions and the up and down positions, and has higher adjusting precision and efficiency.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a front view of the swivel attitude adjustment mechanism of the present invention.
Fig. 3 is a top view of fig. 2.
Fig. 4 is a schematic structural view of the pitch attitude adjusting mechanism of the present invention.
Fig. 5 is a front view of the pitch attitude adjustment mechanism of the present invention.
Fig. 6 is a top view of fig. 5.
Fig. 7 is an electric control schematic diagram of the turning posture adjusting mechanism of the invention.
Wherein: 1. a flange; 2. a turning posture adjusting mechanism; 3. an oilless bearing; 4. a transition plate; 5. a six component balance; 6. a pod dynamometer; 7. a pitch attitude adjusting mechanism; 8. an electric cabinet; 9. a computer;
201. a turntable; 202. a stepping motor; 203. a fixed portion;
701. a first connecting plate; 702. an arc-shaped rail seat; 703. an arc-shaped sliding block; 704. a clamping seat; 705. a rotating plate; 706. a supporting seat; 707. a first nut free bearing; 708. a connecting rod; 709. a second nut hinge base; 710. a second connecting plate; 711. rotating the bottom plate; 712. moving the base plate; 713. mounting a plate; 714. a linear slide rail; 715. a graduated scale; 716. an indication ruler; 717. a guide shaft; 718. locking the screw; 719. a ball bearing; 720. a shaft retaining ring; 721. a hinge pin; 722. adjusting the screw; 723. a steel rail; 724. a linear guide rail; 725. a linear guide locking screw; 726. and adjusting the screw rod.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1 to 6, the attitude adjusting mechanism of the pod power instrument according to the embodiment includes a flange 1, a rotation attitude adjusting mechanism 2 is mounted at the bottom of the flange 1, a through hole is formed in the middle of the rotation attitude adjusting mechanism 2, a post inner shaft of the pod power instrument 6 is mounted concentrically with the through hole, a transition plate 4 is fixed at the bottom of the rotation attitude adjusting mechanism 2 through a fastener, a six-component balance 5 is mounted at the bottom of the transition plate 4, a pitch attitude adjusting mechanism 7 is mounted at the bottom of the six-component balance 5, and the post inner shaft of the pod power instrument 6 simultaneously penetrates through the six-component balance 5 and the pitch attitude adjusting mechanism 7.
The structure of the turning posture adjusting mechanism 2 is as follows: including the carousel 201 with flange 1 fastener connection, the bottom of carousel 201 is fixed part 203, fixed part 203 internally mounted worm gear mechanism, the output and the carousel 201 of worm gear mechanism are connected, worm gear mechanism passes through step motor 202 drive, cab apron 4 is installed to the bottom surface of fixed part 203, the middle part of fixed part 203 is provided with the opening, installation oilless bearing 3 in the opening, oilless bearing 3 passes through the fastener and is connected with cab apron 4, oilless bearing 3's mid-mounting nacelle dynamometer 6's the interior axle of branch.
The stepping motor 202 is connected with the electric cabinet 8 through a network cable, and the electric cabinet 8 is connected with the computer 9.
The pitch attitude adjusting mechanism 7 has the structure: the device comprises a mounting plate 713, wherein the upper surface of the mounting plate 713 is provided with a movable bottom plate 712 through a linear slide rail 714, four corners of the movable bottom plate 712 are respectively provided with a rotary bottom plate 711 through guide shafts 717, the middle positions of the front end and the rear end of the upper surface of the rotary bottom plate 711 are respectively provided with a support seat 706, and a rotary plate 705 is arranged between the two support seats 706; the rotating bottom plate 711 is further provided with a clamping seat 704, the clamping seat 704 clamps the rotating plate 705, one end of the rotating plate 705 is sequentially provided with an arc-shaped sliding block 703, an arc-shaped rail seat 702 and a first connecting plate 701 from inside to outside, the middle of the other end of the rotating plate 705 is provided with a first nut hinge seat 707, the rotating bottom plate 711 is vertically provided with a second connecting plate 710, the inner side of the second connecting plate 710 is provided with a second nut hinge seat 709, and a connecting rod 708 is arranged between the first nut hinge seat 707 and the second nut hinge seat 709.
The middle parts of the rotating plate 705, the rotating bottom plate 711, the moving bottom plate 712 and the mounting plate 713 are all provided with square holes.
The first connecting plate 701 is vertically installed at the end of the rotating base plate 711, an arc rail seat 702 is fixed on the inner side of the first connecting plate 701, and an arc sliding block 703 is installed on the arc rail seat 702 through a locking screw 718.
Four threaded holes are formed in the rotating base plate 711, and four adjusting screws 726 penetrate through the threaded holes to abut against the moving base plate 712.
The mounting plate 713 is provided with two parallel linear guide rails 724, a scale 715 is mounted below one of the linear guide rails 724, and the movable base plate 712 is provided with an indicating scale 716 corresponding to the scale 715.
The specific structure and function of the invention are as follows:
a support rod of the pod power meter 6 is suspended on the flange 1 through four bolts, the flange 1 and the turntable 201 are fixed through four bolts, and the center of an inner shaft of the support rod of the pod power meter 6 is coincided with the center of a through hole of the rotation attitude adjusting mechanism 2.
The stepping motor 202 drives a worm gear in the fixed portion 203 of the turning posture adjustment mechanism 2, so that the turntable 201, the flange 1, and the pod motor 6 rotate around the center of the through hole of the turning posture adjustment mechanism 2.
The rotating angle range of the rotating disc 201 is 0-360 degrees, the rotating speed ratio of the worm and gear in the fixed part 203 of the rotating posture adjusting mechanism 2 is 1: 180, the stepping angle of the stepping motor 202 is 1.8 degrees, the holding torque is 0.54 N.m, the resolution of the whole step of the turntable 201 is 0.01 degree, and the locking torque which is more than 3 N.m can be provided for the pod power instrument 6.
The electric cabinet 8 is powered by 220VAC, a plc programmable controller, a power supply module, a protection circuit and the like are mainly arranged in the box body and used for providing direct current for the stepping motor 202, the computer 9 is communicated with the electric cabinet 8 through a network cable and sends a start-stop instruction and a motor rotation angle instruction, wherein the conversion relation between the motor rotation angle instruction Vpc sent by the computer end and the yaw angle Vdc of the pod dynamometer 6 is shown as the following formula:
Vpc＝Vdc*180；
the turning posture adjustment mechanism 2 can be fixed to the transition plate 4 by three through holes on the fixing portion 203 of the turning posture adjustment mechanism 2.
The oilless bearing 3 is inserted into a through hole of the rotary attitude adjusting mechanism 2 and is fixed on the transition plate 4 by bolts, the pod power instrument 6 supporting rod penetrates through the oilless bearing 3, and when the yaw angle is adjusted and a model test is carried out, the oilless bearing 3 can support the pod power instrument 6 supporting rod, so that the shake generated by the pod power instrument 6 under the action of water flow is reduced.
The transition plate 4 is fixedly connected with the upper panel of the six-component balance 5 through bolts.
The lower panel of the six-component balance 5 can be connected and fixed to the rotating plate 705 of the pitching attitude adjusting mechanism 7 by bolts.
Since the center of the propeller shaft is deviated only by changing the pitch angle of the pod motor 6, the pitch attitude adjusting mechanism 7 is required to have a function of adjusting the pitch angle, the Z-direction position, and the X-direction position.
In the actual use process:
when the pitch angle is adjusted:
two sides of the rotating bottom plate 711 are respectively provided with a supporting seat 706, and the rotating plate 705 is suspended on the supporting seat 706 and can rotate around the supporting seat 706 by using a cantilever pin and a shaft pin screw; an arc-shaped sliding block 703 is assembled at one end of the rotating plate 705, the longitudinal inclination angle of the rotating plate 705 can be indicated by matching with an arc-shaped rail seat 702 with scales (arranged on a first connecting plate 701 vertically fixed on the edge of a rotating bottom plate 711), and the arc-shaped sliding block 703 can be locked on the arc-shaped rail seat 702 by using a locking screw 718; the second connecting plate 710 is vertically fixed on the edge of one side of the rotating base plate 711, a steel rail 723 is arranged on the inner side of the second connecting plate in the vertical direction, the second nut hinged support 709 is embedded in the steel rail 723 and can move up and down along the steel rail 723, and an adjusting screw 722 is inserted into the rotating base plate 711 from bottom to top and screwed into a threaded hole in the second nut hinged support 709; both ends of the link 708 are connected to the first nut hinge base 707 and the second nut hinge base 709, respectively, with a ball bearing 719, a shaft retaining ring 720, and a hinge pin 721; the adjusting screw 722 is screwed to make the second nut hinge base 709 move up and down slowly along the steel rail 723, and then the connecting rod 708 drives the rotating plate 705 to rotate slowly around the supporting base 706, and the pitch angle α of the rotating plate 705 can be read on the scale of the arc rail base 702.
(II) Z-direction position adjustment:
the rotating bottom plate 711 is provided with four through holes, the moving bottom plate 712 is provided with four shaft supports and a guide shaft 717, the guide shaft 717 penetrates through the corresponding through hole and the rotating bottom plate 711 is locked on the guide shaft 717 by bolts of the clamping seat 704 (fixed on the rotating bottom plate 711 by bolts); the rotating bottom plate 711 is provided with four threaded holes, and four adjusting screws 726 penetrate through the threaded holes to abut against the moving bottom plate 712; before adjusting the height of the rotating bottom plate 711 relative to the moving bottom plate 712, the adjusting screws 726 are rotated to make the four screws touch the upper surface of the moving bottom plate 712, the bolts on the clamping seat 704 are loosened, then the four adjusting screws 726 are rotated according to the test requirement to adjust the height of the rotating bottom plate 711 relative to the moving bottom plate 712, and after the target height is reached, the bolts on the clamping seat 704 are screwed again.
(III) X-direction position adjustment:
two parallel linear guide rails 724 are arranged on the mounting plate 713 (two ends of each linear guide rail 724 are fixed on the mounting plate 713 by hexagon socket head cap screws), and a graduated scale 715 (the minimum scale is 1mm) is arranged below one of the linear guide rails 724; the bottom of the movable base plate 712 is provided with four linear sliding rails 714 which can slide on the linear guide 724 smoothly, the side surface of the movable base plate 712 is provided with an indicating ruler 716 for indicating the position of the movable base plate 712 in the X direction, and the movable base plate 712 can be locked on the linear guide 724 by four linear guide locking screws 725.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (7)
1. A nacelle dynamometer attitude adjustment mechanism, characterized by: the device comprises a flange (1), wherein a rotary posture adjusting mechanism (2) is installed at the bottom of the flange (1), a through hole is formed in the middle of the rotary posture adjusting mechanism (2), a support rod inner shaft of a pod power instrument (6) is concentrically installed with the through hole, a transition plate (4) is fixed at the bottom of the rotary posture adjusting mechanism (2) through a fastener, a six-component balance (5) is installed at the bottom of the transition plate (4), a pitching posture adjusting mechanism (7) is installed at the bottom of the six-component balance (5), and the support rod inner shaft of the pod power instrument (6) simultaneously penetrates through the six-component balance (5) and the pitching posture adjusting mechanism (7); the structure of the pitching posture adjusting mechanism (7) is as follows: the device comprises an installation plate (713), wherein a movable bottom plate (712) is installed on the upper surface of the installation plate (713) through a linear sliding rail (714), rotary bottom plates (711) are installed at four corners of the movable bottom plate (712) through guide shafts (717) respectively, supporting seats (706) are installed at the middle positions of the front end and the rear end of the upper surface of the rotary bottom plate (711) respectively, and a rotating plate (705) is installed between the two supporting seats (706); the novel nut connecting plate is characterized in that a clamping seat (704) is further installed on the rotating bottom plate (711), the rotating plate (705) is clamped by the clamping seat (704), an arc-shaped sliding block (703), an arc-shaped rail seat (702) and a first connecting plate (701) are sequentially installed at one end of the rotating plate (705) from inside to outside, a first nut hinged support (707) is installed at the middle of the other end of the rotating plate (705), a second connecting plate (710) is vertically installed on the rotating bottom plate (711), a second nut hinged support (709) is installed on the inner side of the second connecting plate (710), and a connecting rod (708) is installed between the first nut hinged support (707) and the second nut hinged support (709).
2. The attitude adjustment mechanism of a pod power tool according to claim 1, characterized in that: the structure of the rotation attitude adjusting mechanism (2) is as follows: include carousel (201) of being connected with flange (1) fastener, the bottom of carousel (201) is fixed part (203), fixed part (203) internally mounted worm gear mechanism, the output and carousel (201) of worm gear mechanism are connected, worm gear mechanism passes through step motor (202) drive, cab apron (4) are installed to the bottom surface of fixed part (203), the middle part of fixed part (203) is provided with the opening, install oilless bearing (3) in the opening, oilless bearing (3) are connected with cab apron (4) through the fastener, the interior axle of branch of mid-mounting nacelle dynamometer (6) of oilless bearing (3).
3. The attitude adjustment mechanism of a pod power tool according to claim 2, characterized in that: the stepping motor (202) is connected with the electric cabinet (8) through a network cable, and the electric cabinet (8) is connected with the computer (9).
4. The attitude adjustment mechanism of a pod power tool according to claim 1, characterized in that: the middle parts of the rotating plate (705), the rotating bottom plate (711), the moving bottom plate (712) and the mounting plate (713) are all provided with square holes.
5. The attitude adjustment mechanism of a pod power tool according to claim 1, characterized in that: the first connecting plate (701) is vertically installed at the end part of the rotating bottom plate (711), an arc-shaped rail seat (702) is fixed on the inner side of the first connecting plate (701), and an arc-shaped sliding block (703) is installed on the arc-shaped rail seat (702) through a locking screw (718).
6. The attitude adjustment mechanism of a pod power tool according to claim 1, characterized in that: four threaded holes are formed in the rotating bottom plate (711), and four adjusting screws (726) penetrate through the threaded holes to abut against the moving bottom plate (712).
7. The attitude adjustment mechanism of a pod power tool according to claim 1, characterized in that: the mounting plate (713) is provided with two parallel linear guide rails (724), a graduated scale (715) is arranged below one linear guide rail (724), and the movable bottom plate (712) is provided with an indicating scale (716) corresponding to the graduated scale (715).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110851891.1A CN113581435B (en) | 2021-07-27 | 2021-07-27 | Nacelle power instrument attitude adjusting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110851891.1A CN113581435B (en) | 2021-07-27 | 2021-07-27 | Nacelle power instrument attitude adjusting mechanism |
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| CN113581435A CN113581435A (en) | 2021-11-02 |
| CN113581435B true CN113581435B (en) | 2022-05-17 |
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| CN202110851891.1A Active CN113581435B (en) | 2021-07-27 | 2021-07-27 | Nacelle power instrument attitude adjusting mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114184352B (en) * | 2021-12-09 | 2023-05-09 | 中国船舶科学研究中心 | Nacelle power meter model test balance device and use method |
| CN114543836B (en) * | 2022-01-22 | 2024-02-23 | 中国船舶重工集团公司第七0七研究所 | Calibration-free method for dynamically installing attitude reference of ship |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB364207A (en) * | 1930-10-11 | 1932-01-07 | Fred Cooper | Improvements in or relating to power transmission mechanism for the propellers of boats or other vessels |
| JP4297398B2 (en) * | 1999-11-19 | 2009-07-15 | ヤマハ発動機株式会社 | Outboard motor storage structure |
| DE10159427A1 (en) * | 2001-12-04 | 2003-06-12 | Sea Trade As Oslo | Device for correcting the course of POD-driven ships |
| US8708760B2 (en) * | 2010-02-11 | 2014-04-29 | Davis Engineering, Llc | Trimmable pod drive |
| JP5687926B2 (en) * | 2011-02-25 | 2015-03-25 | 株式会社ショーワ | Trim and tilt device for marine propulsion equipment |
| CN103983393B (en) * | 2014-05-21 | 2016-08-17 | 中国航天空气动力技术研究院 | A kind of large-scale determination of six components of foree and varied angle support means |
| JP2017165115A (en) * | 2016-03-14 | 2017-09-21 | 株式会社ショーワ | Trim/tilt device for ship propulsion machine, and ship propulsion machine |
| CN107512380B (en) * | 2017-08-22 | 2019-07-16 | 大连理工大学 | A kind of all-around propeller, ship and floating platform |
| CN109186979B (en) * | 2018-09-17 | 2020-12-01 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Oblique transmission type pod test device |
| CN109911160A (en) * | 2019-04-15 | 2019-06-21 | 中国船舶重工集团公司第七0四研究所 | Compact pod propulsion marine electric power propulsion device |
| CN110435858B (en) * | 2019-08-19 | 2020-09-22 | 华南理工大学 | Autonomous stable multi-degree-of-freedom motion controllable pod type underwater towed body |
| CN111634441A (en) * | 2020-07-01 | 2020-09-08 | 中电科微波通信（上海）股份有限公司 | Position and posture adjusting device |
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