JPH018834Y2 - - Google Patents

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Publication number
JPH018834Y2
JPH018834Y2 JP1984196642U JP19664284U JPH018834Y2 JP H018834 Y2 JPH018834 Y2 JP H018834Y2 JP 1984196642 U JP1984196642 U JP 1984196642U JP 19664284 U JP19664284 U JP 19664284U JP H018834 Y2 JPH018834 Y2 JP H018834Y2
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JP
Japan
Prior art keywords
fuel
throttle valve
combustor
nozzle body
head
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
JP1984196642U
Other languages
Japanese (ja)
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JPS61115829U (en
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Filing date
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Priority to JP1984196642U priority Critical patent/JPH018834Y2/ja
Publication of JPS61115829U publication Critical patent/JPS61115829U/ja
Application granted granted Critical
Publication of JPH018834Y2 publication Critical patent/JPH018834Y2/ja
Expired legal-status Critical Current

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  • Pre-Mixing And Non-Premixing Gas Burner (AREA)

Description

【考案の詳細な説明】 〔考案の技術分野〕 本考案はガスタービン燃焼器における燃焼噴射
装置に係り、とりわけガスタービン燃焼器の低負
荷時においても燃焼状態が安定化するように図つ
たガスタービン燃焼噴射装置の改良に関する。
[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a combustion injection device for a gas turbine combustor, and particularly to a gas turbine which is designed to stabilize the combustion state even when the gas turbine combustor is under low load. Related to improvements in combustion injection devices.

〔考案の技術的背景とその問題点〕[Technical background of the invention and its problems]

近年ガスタービンは、単機容量を増大して単位
出力当りの運転原価を低減すべくその高温化・大
型化がすすめられている。ガスタービンを大容量
化する場合、必然的に燃焼器に供給する燃料器を
増加することが必要となり、そのため燃焼器に配
設される燃料噴射装置の容量も大きくしなければ
ならない。
In recent years, gas turbines have been made hotter and larger in order to increase single unit capacity and reduce operating costs per unit output. When increasing the capacity of a gas turbine, it is inevitably necessary to increase the number of fuel units that supply the combustor, and therefore the capacity of the fuel injection device disposed in the combustor must also be increased.

ところが、ガスタービンの起動から最大負荷に
至るまでの各運転モードにおける必要燃料量は大
きく異なるのであり、特にガスタービン容量を大
型化した場合にその相異は顕著となる。
However, the amount of fuel required in each operation mode from the start of the gas turbine to the maximum load differs greatly, and this difference becomes particularly noticeable when the gas turbine capacity is increased.

第6図はこれまで一般に用いられてきたガス燃
焼噴射装置を示すものであつて、燃料ガスは燃料
導入口50から流入してハウジング51内部を通
り先端に設けられた噴射口52から噴出する。そ
してスワーラ53から送給される圧縮機吐出空気
と混合されて図示しない燃焼器内部にて燃焼され
る。かかる構成のガス燃料噴射装置では噴射口5
2の流路面積が一定であるため、上記必要燃料量
が運転モードにより相異すると次のような不都合
が生ずる。すなわち、一般に上記噴射口流路面積
は100%負荷を基準に設計が行われるため、高負
荷時やタービン起動時には良好な燃焼が得られる
ものの、低負荷時になると燃料量が減少するにも
かかわらず噴射口面積は高負荷時と同であるから
燃料ガス圧力と燃焼器内圧の差が小さくなり、第
7図に示すように噴射圧力比πが限界圧力比より
も小さくなるに至る。このような状況では燃焼不
安定となつて燃焼振動や失火等のトラブルが起こ
る。
FIG. 6 shows a gas combustion injection device that has been commonly used up to now, in which fuel gas flows in from a fuel inlet 50, passes through the inside of a housing 51, and is ejected from an injection port 52 provided at the tip. Then, it is mixed with compressor discharge air fed from the swirler 53 and burned inside a combustor (not shown). In the gas fuel injection device having such a configuration, the injection port 5
Since the flow path area of No. 2 is constant, if the above-mentioned required fuel amount differs depending on the operation mode, the following inconvenience will occur. In other words, the above-mentioned injection port flow path area is generally designed based on 100% load, so although good combustion can be obtained at high load or when starting the turbine, at low load the fuel amount decreases. Since the injection port area is the same as when the load is high, the difference between the fuel gas pressure and the combustor internal pressure becomes small, and the injection pressure ratio π becomes smaller than the limit pressure ratio as shown in FIG. In such a situation, combustion becomes unstable and troubles such as combustion vibration and misfire occur.

また、逆に低流量の燃料について十分な差圧を
確保しようとすれば、噴射口面積を小さくせざる
を得ないが、そうすれ高負荷時に燃料流量を増加
するためには燃料供給圧力を増加しなければなら
ず、プラント設備の高圧化を招いて好ましくない
という不具合がある。
Conversely, in order to secure sufficient differential pressure for low-flow fuel, the injection port area must be reduced, but in order to increase the fuel flow rate at high loads, the fuel supply pressure must be increased. This has the disadvantage of undesirably increasing the pressure of the plant equipment.

〔考案の目的〕[Purpose of invention]

本考案は上記の点に鑑みてなされたもので、低
負荷領域時の低流量燃料でも好適にして安定な燃
料が燃焼器に送り出されるように図つたガスター
ビンのガス燃料噴射装置を提供することを目的と
する。
The present invention has been made in view of the above points, and an object of the present invention is to provide a gas fuel injection device for a gas turbine that is capable of sending suitable and stable fuel to a combustor even at a low flow rate of fuel in a low load region. With the goal.

〔考案の概要〕[Summary of the idea]

本考案は、燃料導入口を備えたハウジングと、
このハウジング端部に形成された開口部に取着さ
れ、表面にすりばち形状の凹部が形成されこの凹
部と前記ハウジング内部を貫通するよう設けられ
た孔を有するノズル体と、前記凹部に包蔵される
絞り弁の頭部に接続する支持部がバネの伸縮力を
受けて前記ノズル体内を摺動するようにし、その
支持部の移動によつて前記ノズル体に対して進退
可能となるようにする絞り弁と、この絞り弁の頭
部には燃料に旋回流を与えるように形成するスリ
ツトを穿設してなり、低負荷時、前記スリツトを
通して燃料に旋回流を与えて燃焼器に送り出すガ
スタービンのガス燃料噴射装置である。
The present invention includes a housing equipped with a fuel inlet,
a nozzle body that is attached to an opening formed at the end of the housing, has a concave portion formed on its surface, and has a hole provided to pass through the concave portion and the inside of the housing; A throttle valve in which a support part connected to the head of the throttle valve slides within the nozzle body under the elastic force of a spring, and can move forward and backward with respect to the nozzle body by movement of the support part. A slit is formed in the head of the throttle valve and the throttle valve to give a swirling flow to the fuel, and when the load is low, the gas turbine is configured to give a swirling flow to the fuel through the slit and send it to the combustor. It is a gas fuel injection device.

かかる構成において、燃料はハウジングからノ
ズル体に設けられた孔を通り、さらにノズル体表
面に設けられた凹部と絞り弁の頭部との間に形成
される隙間を通つて燃焼器内部へ噴出する。この
際絞り弁頭部に作用する燃料供給圧力と燃焼器内
圧との差圧に基く力によつて、上記絞り弁をノズ
ル体に係合するよう付勢しているバネが伸縮す
る。このバネの伸縮により、上記ノズル体の凹部
と絞り弁頭部の間に形成される隙間によつて確保
される燃料の流路面積は、燃料流量が小なるとき
は小さく、逆に流量が大なるときは大きくなるよ
う変化する。
In this configuration, fuel is ejected from the housing into the combustor through a hole provided in the nozzle body and further through a gap formed between a recess provided in the nozzle body surface and the head of the throttle valve. . At this time, a force based on the pressure difference between the fuel supply pressure and the combustor internal pressure acting on the throttle valve head expands and contracts the spring that urges the throttle valve to engage with the nozzle body. Due to the expansion and contraction of this spring, the fuel flow area secured by the gap formed between the recess of the nozzle body and the throttle valve head is small when the fuel flow rate is small, and conversely when the flow rate is large. When it becomes bigger, it changes to become bigger.

こうして燃料流量の大小に応じてその流路面積
は変化するが、それでも、低負荷時においては燃
料圧力と燃焼器内圧力との差圧が少ないこともあ
つて、燃料自身の流れが無く、このため燃焼器内
の燃焼度合は偏り、燃焼器内の局部燃焼による局
部加熱や燃焼部分と非燃焼部分との圧力差による
振動が発生する。
In this way, the flow path area changes depending on the size of the fuel flow rate, but even so, at low loads, the differential pressure between the fuel pressure and the pressure inside the combustor is small, so there is no flow of the fuel itself, and this As a result, the degree of combustion within the combustor is uneven, and vibrations occur due to local heating due to local combustion within the combustor and pressure differences between combustion and non-combustion areas.

かかる不具合が発生する場合でも、絞り弁頭部
に穿孔するスリツトが燃料に旋回流を与えて燃焼
器に送り出す。その結果、燃料圧力と燃焼器内圧
力との差圧が少なく、バネの伸縮力が活用されて
いなくとも、燃料には旋回流が与えられているた
め、ノズル体から噴出する燃料は燃焼器内の全域
に行き渡る。
Even if such a problem occurs, the slit in the throttle valve head provides a swirling flow to the fuel and sends it to the combustor. As a result, even though the differential pressure between the fuel pressure and the pressure inside the combustor is small and the expansion and contraction force of the spring is not utilized, the fuel is given a swirling flow, so the fuel ejected from the nozzle body flows inside the combustor. spread throughout the area.

〔考案の実施例〕[Example of idea]

第1図は本考案の一実施例に係るガス燃料噴射
装置を示すものであつて、燃料導入口1を備えた
ハウジング2の端部に形成された開口部3にはノ
ズル体4が取着されている。このノズル体4の表
面にはすりばち形状に開口した凹部5が形成さ
れ、この凹部5のノズル体4に支持部6を介して
摺動するよう支持された絞り弁7の頭部8が包蔵
されている。また、ノズル体4には上記凹部5と
ハウジング2内部を連通する孔9が複数穿設され
ると共に、ノズル体4の側方から凹部5の内側へ
向けてスワーラ10が全周にわたつて形成されて
いる。絞り弁7の支持部6の端部にはバネ11が
同じく支持部6に固定された止め金具12とノズ
ル体4に挾まれるよう貫装され、またこの支持部
6にはストツパ13が固着され絞り弁7のストロ
ークを制限するようになつている。なお、符号1
4は振動を防止するためのOリングである。第2
図は第1図のA−A矢視図であつて、図示のよう
に絞り弁7の頭部8の側面には多数のスリツト
(溝)15が穿孔され、これらスリツト15は燃
料が旋回流となつて燃焼器に送り出されるよう
に、曲面形状になつている。また、これらスリツ
ト15はスワーラ10と同数設けられている。
FIG. 1 shows a gas fuel injection device according to an embodiment of the present invention, in which a nozzle body 4 is attached to an opening 3 formed at the end of a housing 2 having a fuel inlet 1. has been done. A concave portion 5 having a concave opening is formed on the surface of the nozzle body 4, and a head 8 of a throttle valve 7, which is slidably supported in the nozzle body 4 via a support portion 6, is housed in the concave portion 5. ing. Further, the nozzle body 4 is provided with a plurality of holes 9 that communicate with the recess 5 and the inside of the housing 2, and a swirler 10 is formed around the entire circumference from the side of the nozzle body 4 toward the inside of the recess 5. has been done. A spring 11 is inserted through the end of the support part 6 of the throttle valve 7 so as to be sandwiched between a stopper 12 fixed to the support part 6 and the nozzle body 4, and a stopper 13 is fixed to the support part 6. The stroke of the throttle valve 7 is limited. In addition, code 1
4 is an O-ring for preventing vibration. Second
The figure is a view taken along the line A-A in FIG. It has a curved shape so that it is delivered to the combustor. Further, the number of these slits 15 is the same as the number of swirlers 10.

上記構成において、燃料流入口1より流入した
燃料はハウジング2内で方向を変えノズル体4の
孔9を通り、さらにノズル体4の凹部5と絞り弁
7の頭部8の間に形成された間隙16を通つて図
示しない燃焼器内部へ噴射される。この燃料は噴
射される際スリツト15に沿つて旋回流となりつ
つスワーラ10から供給される圧縮空気と混合さ
れる。このとき、上記間隙16によつて確保され
る流路面積は、バネ11で付勢された絞り弁7に
作用する燃料ガス供給圧力と燃焼器内圧との差圧
に基いて変化する。すなわち、ノズル体4の孔9
を通つた燃料は、燃焼器内圧Pccとそれ自身の燃
料ガス圧力Pgasの差圧(Pgas−Pcc)に従つて
絞り弁7を外方へ押し出そうとする。一方、絞り
弁7はバネ11によりその動きが抑制されるか
ら、結局上記差圧に絞り弁7の受圧面積Fを乗じ
て求められる力がバネ11に作用し、バネ11は
それに生じる弾性力が上記力と均衡するよう伸縮
することとなる。すなわち、バネ11の弾性定数
をkとすれば、バネ11の変位Δlは次式で求め
ることができる。
In the above configuration, the fuel flowing in from the fuel inlet 1 changes its direction within the housing 2 and passes through the hole 9 of the nozzle body 4, and is further formed between the recess 5 of the nozzle body 4 and the head 8 of the throttle valve 7. The fuel is injected through the gap 16 into a combustor (not shown). When this fuel is injected, it forms a swirling flow along the slit 15 and mixes with the compressed air supplied from the swirler 10. At this time, the flow path area secured by the gap 16 changes based on the differential pressure between the fuel gas supply pressure acting on the throttle valve 7 biased by the spring 11 and the combustor internal pressure. That is, the hole 9 of the nozzle body 4
The fuel passing through the combustor tends to push the throttle valve 7 outward according to the pressure difference between the combustor internal pressure Pcc and its own fuel gas pressure Pgas (Pgas-Pcc). On the other hand, since the movement of the throttle valve 7 is suppressed by the spring 11, a force obtained by multiplying the differential pressure by the pressure-receiving area F of the throttle valve 7 acts on the spring 11, and the spring 11 has an elastic force generated therein. It will expand and contract to balance the above force. That is, if the elastic constant of the spring 11 is k, the displacement Δl of the spring 11 can be determined by the following equation.

Δl=F/k(Pgas−Pcc) =F/k×Pcc×(π−1) ……(1) ここで噴射圧力比π=Pgas/Pcc このバネ11の変位に従つて絞り弁7は開閉す
るから、絞り弁7とノズル体4の凹部5との間に
確保される燃料ガスの流路面積Aは、関数fを用
いて次式で表わすことができる。
Δl=F/k(Pgas-Pcc) =F/k×Pcc×(π-1) ...(1) Here, the injection pressure ratio π=Pgas/Pcc The throttle valve 7 opens and closes according to the displacement of the spring 11. Therefore, the flow area A of the fuel gas secured between the throttle valve 7 and the recess 5 of the nozzle body 4 can be expressed by the following equation using the function f.

A=Amin+f(Δl) ……(2) なお、Amin≦A≦Amax ……(3) ここでAminは流路面積の最小値で、本実施例
では絞り弁7がノズル体4の凹部5に当接した状
態、すなわちスリツト15により確保される面
積、AmaxはAの最大値で絞り弁7の支持部6に
固定されたストツパ13がノズル体4に当接して
いるとき(第1図の状態の面積である。なお、(2)
式において関数fは凹部5のすりばち形状部分の
傾き角により種々変化する。
A=Amin+f(Δl)...(2) Note that Amin≦A≦Amax...(3) Here, Amin is the minimum value of the flow path area, and in this embodiment, the throttle valve 7 is placed in the recess 5 of the nozzle body 4. When the stopper 13 fixed to the support part 6 of the throttle valve 7 is in contact with the nozzle body 4 (in the state shown in FIG. 1), the area secured by the slit 15, Amax, is the maximum value of A. is the area of (2)
In the equation, the function f varies depending on the inclination angle of the dovetail-shaped portion of the recess 5.

ガスタービンにおいては、回転数および負荷の
上昇に伴なつて圧縮機の吐出圧が上昇して燃焼器
内圧Pccが上昇していくこととなるが、Pccの上
昇に併せてPgasを増加させることにより前述の
噴射圧力比πを少なくとも一定値に保つようにす
れば、(1)式よりΔlは増加し、したがつて(2)式か
ら流路面積Aが増加するから、結局のところこの
とき燃料流量を増加させることができるのであ
る。
In a gas turbine, as the rotation speed and load increase, the discharge pressure of the compressor increases and the combustor internal pressure Pcc increases. If the above-mentioned injection pressure ratio π is kept at least at a constant value, Δl will increase from equation (1), and therefore the flow path area A will increase from equation (2). This allows the flow rate to be increased.

上記の構成によれば、各負荷において燃料ガス
圧力Pgasと燃焼器内圧Pccの差圧を適当に確保す
ることができる。したがつて第3図に示すように
低負荷の状態においても噴射圧力比πは限界値以
上にできる。
According to the above configuration, an appropriate pressure difference between the fuel gas pressure Pgas and the combustor internal pressure Pcc can be ensured at each load. Therefore, as shown in FIG. 3, the injection pressure ratio π can be greater than the limit value even under low load conditions.

しかしながら、噴射圧力比πを限界値以上に上
昇させたとしても、低負荷時、燃料流量は少ない
ので、ノズル体4の凹部5と絞り弁7の頭部8の
間に形成された間隙16を通る燃料は計算通りに
流れず、片寄つた流れ方をし、局部燃焼が起る。
この場合、前記頭部8にスリツト15が穿孔され
ているので、燃料が片寄つた流れ方をしても、前
記スリツト15が燃料に旋回流を与えることにな
り、燃料自身は旋回しながら燃焼器に送り出さ
れ、その結果、送り出される燃料は燃焼器全域に
広がる。こうして燃焼器の燃焼状態は安定に保つ
ことができる。
However, even if the injection pressure ratio π is increased above the limit value, the fuel flow rate is small at low load, so the gap 16 formed between the recess 5 of the nozzle body 4 and the head 8 of the throttle valve 7 is The fuel that passes through it does not flow as calculated, but flows unevenly, causing local combustion.
In this case, since the slit 15 is bored in the head 8, even if the fuel flows unevenly, the slit 15 will give the fuel a swirling flow, and the fuel itself will flow into the combustor while swirling. As a result, the delivered fuel is spread throughout the combustor. In this way, the combustion state of the combustor can be kept stable.

第4図は他の実施例を示すものであつて、絞り
弁7の頭部8の側面を第5図に示すように平坦面
とし、さらにバネ11が伸びたときにこの側面が
ノズル体4の凹部5に当接してこの凹部5を密閉
せぬよう、上記頭部8の低面がノズル体4に当接
するようにしたものである。こうして必要な流路
面積を絞り弁7の頭部8の全周にわたつて確保す
ることにより、低負荷時等燃料ガス圧が低い場合
にも圧縮機吐出空気との良好な混合を達成するこ
とができる。
FIG. 4 shows another embodiment in which the side surface of the head 8 of the throttle valve 7 is a flat surface as shown in FIG. The lower surface of the head 8 is brought into contact with the nozzle body 4 so as not to come into contact with the recess 5 and seal the recess 5. In this way, by securing the necessary flow path area over the entire circumference of the head 8 of the throttle valve 7, good mixing with the compressor discharge air can be achieved even when the fuel gas pressure is low, such as during low load. Can be done.

〔考案の効果〕[Effect of idea]

以上述べたように、本考案は絞り弁をバネで付
勢して燃料ガス圧と燃焼器内圧との差圧に基いて
これを開閉するとともに、バネの付勢力だけでは
燃料を燃焼器に良好に送り出せないときは絞り弁
頭部のスリツトを活用するものであるから、本考
案によれば低負荷時から高負荷時に至る広い負荷
範囲において良好な燃焼を得ることができる。し
たがつて、燃焼振動を生じることもなく、従来の
ように燃焼振動に基いてタービンがトリツプする
という不都合を防止できる等の効果を奏する。
As described above, the present invention biases the throttle valve with a spring to open and close it based on the differential pressure between the fuel gas pressure and the internal pressure of the combustor. Since the slit in the head of the throttle valve is utilized when the fuel cannot be delivered to the desired temperature, the present invention makes it possible to obtain good combustion over a wide load range from low to high loads. Therefore, combustion oscillations do not occur, and it is possible to prevent the inconvenience of the turbine tripping due to combustion oscillations, which is the case with conventional combustion engines.

【図面の簡単な説明】[Brief explanation of the drawing]

第1図は本考案の一実施例に係るガス燃料噴射
装置の一部切欠断面図、第2図は第1図のA−A
線矢視図、第3図は本考案の作用を説明する線
図、第4図は本考案の他の実施例を示す一部切欠
断面図、第5図は4図のB−B線矢視図、第6図
は従来のガス燃料噴射装置の一部切欠断面図、第
7図は従来のガス燃料噴射装置の作用を説明する
線図である。 1……燃料導入口、2……ハウジング、3……
開口部、4……ノズル体、5……凹部、6……支
持部、7……絞り弁、8……頭部、9……孔、1
1……バネ、15……スリツト。
FIG. 1 is a partially cutaway sectional view of a gas fuel injection device according to an embodiment of the present invention, and FIG. 2 is a line A-A in FIG. 1.
3 is a diagram illustrating the action of the present invention, FIG. 4 is a partially cutaway sectional view showing another embodiment of the present invention, and FIG. 5 is a view taken along the line BB in FIG. 4. A perspective view, FIG. 6 is a partially cutaway sectional view of a conventional gas fuel injection device, and FIG. 7 is a diagram illustrating the operation of the conventional gas fuel injection device. 1... Fuel inlet, 2... Housing, 3...
Opening, 4... Nozzle body, 5... Recess, 6... Support, 7... Throttle valve, 8... Head, 9... Hole, 1
1...Spring, 15...Slit.

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] 燃料導入口を備えたハウジングと、このハウジ
ング端部に形成された開口部に取着され、表面に
すりばち形状の凹部が形成されこの凹部と前記ハ
ウジング内部を貫通するよう設けられた孔を有す
るノズル体と、前記凹部に包蔵される絞り弁の頭
部に接続する支持部がバネの伸縮力を受けて前記
ノズル体内を摺動するようにし、その支持部の移
動によつて前記ノズル体に対して進退可能となる
ようする絞り弁と、この絞り弁の頭部には燃料に
旋回流を与えるように形成するスリツトを穿設し
てなり、低負荷時、前記スリツトを通して燃料に
旋回流を与えて燃焼器に送り出すガスタービンの
ガス燃料噴射装置。
A housing having a fuel inlet, and a nozzle that is attached to an opening formed at an end of the housing, has a concave portion formed on its surface, and has a hole extending through the concave portion and the inside of the housing. A supporting portion connected to the head of the throttle valve housed in the concave portion slides within the nozzle body under the elastic force of a spring, and movement of the supporting portion causes the support portion connected to the head of the throttle valve housed in the recess to slide against the nozzle body. The throttle valve has a slit formed in the head thereof to give a swirling flow to the fuel, and when the load is low, a swirling flow is given to the fuel through the slit. Gas turbine gas fuel injection device that sends fuel to the combustor.
JP1984196642U 1984-12-28 1984-12-28 Expired JPH018834Y2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1984196642U JPH018834Y2 (en) 1984-12-28 1984-12-28

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1984196642U JPH018834Y2 (en) 1984-12-28 1984-12-28

Publications (2)

Publication Number Publication Date
JPS61115829U JPS61115829U (en) 1986-07-22
JPH018834Y2 true JPH018834Y2 (en) 1989-03-09

Family

ID=30754469

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1984196642U Expired JPH018834Y2 (en) 1984-12-28 1984-12-28

Country Status (1)

Country Link
JP (1) JPH018834Y2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7832212B2 (en) * 2006-11-10 2010-11-16 General Electric Company High expansion fuel injection slot jet and method for enhancing mixing in premixing devices

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5828491A (en) * 1981-08-12 1983-02-19 三菱電機株式会社 Chain tension mechanism of robot

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5828491A (en) * 1981-08-12 1983-02-19 三菱電機株式会社 Chain tension mechanism of robot

Also Published As

Publication number Publication date
JPS61115829U (en) 1986-07-22

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