WO2010052777A1 - Dispositif de gouvernail de bateau - Google Patents

Dispositif de gouvernail de bateau Download PDF

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Publication number
WO2010052777A1
WO2010052777A1 PCT/JP2008/070191 JP2008070191W WO2010052777A1 WO 2010052777 A1 WO2010052777 A1 WO 2010052777A1 JP 2008070191 W JP2008070191 W JP 2008070191W WO 2010052777 A1 WO2010052777 A1 WO 2010052777A1
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WO
WIPO (PCT)
Prior art keywords
hydraulic
pump
oil
steering
pressure
Prior art date
Application number
PCT/JP2008/070191
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English (en)
Japanese (ja)
Inventor
智史 時津
数幸 佐々木
Original Assignee
三菱重工業株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 三菱重工業株式会社 filed Critical 三菱重工業株式会社
Priority to CN200880130050.4A priority Critical patent/CN102076557B/zh
Priority to JP2010536613A priority patent/JP5232870B2/ja
Priority to PCT/JP2008/070191 priority patent/WO2010052777A1/fr
Priority to KR1020107028618A priority patent/KR101334523B1/ko
Publication of WO2010052777A1 publication Critical patent/WO2010052777A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/06—Steering by rudders
    • B63H25/08—Steering gear
    • B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
    • B63H25/26—Steering engines
    • B63H25/28—Steering engines of fluid type
    • B63H25/30—Steering engines of fluid type hydraulic
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7107—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being mechanically linked
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7114—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators
    • F15B2211/7128—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators the chambers being connected in parallel

Definitions

  • the present invention relates to a steering machine that is mounted on a traveling body such as a ship and performs steering.
  • a steering machine that performs such steering includes a hydraulic system that generates hydraulic pressure using a hydraulic pump driven by an electric motor, and controls the hydraulic pressure acting on the hydraulic cylinder to operate the steering plate.
  • the steering machine 10 includes a rudder shaft 11 that protrudes downward from the bottom of the stern side of the ship 1 and is rotatably supported by the ship 1.
  • a rudder plate 12 is fixed to the rudder shaft 11 at an underwater position and rotates integrally.
  • symbol 2 in a figure is a screw which gives a propulsive force to the ship 1.
  • the steering machine 10 described above includes a drive mechanism actuator that rotates the rudder shaft 11 to steer the rudder plate 12 in a desired direction.
  • this drive mechanism for example, an electro-hydraulic system configured as in the conventional example shown in FIG. 5 is known.
  • the rudder shaft 11 is rotated via a chiller 13.
  • the chiller 13 is fixed to the rudder shaft 11 at the center, and four hydraulic cylinders 21 (both ends are connected to a closed-circuit hydraulic system (hydraulic system) 20 at both ends are denoted by reference numerals only when necessary. 21A, 21B, 21C, and 21D).
  • one end side of the chiller 13 is connected to the first ram 22A operated by the pair of hydraulic cylinders 21A and 21B, and the other end side of the chiller 13 is connected to the second ram 22B operated by the pair of hydraulic cylinders 21C and 21D. Since they are connected, for example, by supplying oil to the pair of hydraulic cylinders 21A and 21D, the chiller 13 and the rudder shaft 11 can be rotated in the clockwise direction. Further, by supplying oil to the other pair of hydraulic cylinders 21B and 21C, the chiller 13 and the rudder shaft 11 can be rotated in the counterclockwise direction.
  • the hydraulic cylinder 21 described above is connected to a main hydraulic pump 23 such as a swash plate pump via an oil pipe 24.
  • a main hydraulic pump 23 such as a swash plate pump
  • the main hydraulic pump 23 adjusts the angle of the swash plate to suck the oil in the anti-load side cylinder, pressurize it to a predetermined pressure, and supply it to the load side cylinder.
  • the steering angle is maintained at a specific angle, the oil flowing through the hydraulic system 20 is locked by setting the angle of the swash plate to the neutral position so that the amount of oil passing through the main hydraulic pump 23 is zero, and the steering plate Can be stopped.
  • a boost pump 26 is connected to the oil pipe 24 via a check valve 25.
  • the boost pump 26 has a function of sucking oil from an oil tank (not shown) and supplying it to the oil pipe 24 with a predetermined pressure.
  • the boost pump 26 is affected by the water flow acting on the steering plate 12 and the like. Even when the load on the hydraulic system fluctuates rapidly, the hydraulic pressure in the hydraulic system 20 is maintained at a predetermined value or higher so that no negative pressure is generated in the hydraulic system 20.
  • a steering device including an accumulator is disclosed as an oil supply source of an auxiliary control device that enables control when a main control device fails.
  • the accumulator is arranged on the upstream side of a switching valve for steering by switching the oil flow on a hydraulic system including a constant flow type hydraulic pump.
  • a steering device including an accumulator is disclosed as an oil supply source for a temporary rapid operation.
  • the accumulator in this case is also arranged on the upstream side of the switching valve on the hydraulic system including the constant flow type hydraulic pump.
  • Patent Document 3 JP 54-142799 A JP-A-1-195180 Japanese Patent Laid-Open No. 60-12395
  • the above-described electrohydraulic steering machine employs a closed circuit hydraulic system that uses a swash plate pump or the like as a main hydraulic pump, and a boost pump is used to prevent negative pressure in the hydraulic circuit during steering. Provided.
  • margins such as steering force given to the hydraulic system of the steering machine tend to be suppressed. For this reason, depending on the state of the load, the replenishment amount of the oil that can be supplied from the boost pump becomes insufficient, and a region in which a negative pressure is generated in the hydraulic circuit may be generated.
  • FIG. 6 is a diagram showing an example of the steering plate torque on the vertical axis with the horizontal axis as the steering angle, and in any steering direction of P / S, as shown by hatching in the figure, in a region where the steering angle is small.
  • Rudder plate torque in the direction opposite to the steering direction is generated.
  • the rudder torque in the direction opposite to the steering direction may not occur at all, or may occur up to a relatively large rudder angle range, depending on the design of the rudder plate.
  • the hydraulic cylinder which should drive the ram with the hydraulic pressure corresponding to the load, is actually pulled by the ram by the load that the rudder plate tries to rotate.
  • the hydraulic pressure in the hydraulic cylinder may become negative.
  • FIG. 7 there may be a time zone T in which a negative pressure region is formed due to a shortage of hydraulic oil amount in the hydraulic circuit. During this time, it is considered that cavitation occurs in the main hydraulic pump due to a decrease in hydraulic pressure, which causes problems such as noise. In this time zone T, the steering plate torque toward the desired steering direction cannot be obtained.
  • the capacity of the boost pump 26 may be increased to prevent the formation of the negative pressure region.
  • increasing the capacity of the boost pump 26 is not preferable because there is a problem of increasing the power consumption and the amount of heat generated by the pump operation.
  • the present invention has been made in view of the above circumstances, and its object is to prevent cavitation of the main hydraulic pump due to the negative pressure region in the hydraulic circuit and to generate abnormal noise associated with this cavitation.
  • the object is to provide a steering machine that prevents it.
  • a steering mechanism that rotates a rudder shaft that is rotatably supported by a traveling body and a rudder plate that is fixed to the rudder shaft and rotates integrally therewith, and a drive mechanism that rotates the rudder shaft.
  • a main hydraulic pump having a hydraulic actuator connected to the hydraulic system, wherein the hydraulic system is variable in the direction of suction / discharge of oil and a discharge flow rate; a boost pump that maintains a predetermined pressure in the hydraulic system; and the hydraulic system And a hydraulic storage means for preventing cavitation of the main hydraulic pump accompanying the formation of the negative pressure region.
  • Such a steering machine includes a main hydraulic pump in which the hydraulic system can vary the oil suction / discharge direction and the discharge flow rate, a boost pump that maintains a predetermined pressure in the hydraulic system, and a negative pressure in the hydraulic system.
  • Hydraulic storage means for preventing cavitation of the main hydraulic pump accompanying the region formation, so that when the oil pressure in the oil system drops, oil is replenished from the boost pump to the hydraulic system, and further the oil from the boost pump When replenishment becomes insufficient, oil is replenished from the hydraulic storage means to prevent the formation of a negative pressure region in the hydraulic system, and the occurrence of abnormal noise due to cavitation caused by this can be prevented. it can.
  • the hydraulic storage means is preferably one or a plurality of accumulators.
  • the boost pump is preferably operable independently of the main hydraulic pump, and is intermittently operated so as to maintain the hydraulic pressure in the vicinity of the accumulator within a predetermined range.
  • FIG. 1 It is a lineblock diagram showing one embodiment of a steering gear concerning the present invention. It is a figure explaining the effect
  • An electro-hydraulic steering gear 10A shown in FIG. 1 is provided on a rudder shaft 11 and a rudder shaft 11 that are rotatably supported by the traveling body when the traveling body such as a ship changes a traveling direction.
  • This is a steering device used when driving the steering plate 12 (see FIG. 4) that is fixed and rotates integrally.
  • the steering machine 10A includes four hydraulic cylinders 21 (21A, 21B, 21C, and 21D when distinction is required) connected to the hydraulic system 20A as actuators of a drive mechanism that rotates the rudder shaft 11.
  • the actuator is not limited to a hydraulic cylinder, and may be a rotary vane or the like.
  • symbol 13 in a figure is a chiller which rotates the rudder axis
  • the hydraulic system 20A described above includes a main hydraulic pump 23 that makes the oil suction / discharge direction and discharge flow rate variable, a boost pump 26 that maintains the inside of the hydraulic system 20A at a predetermined pressure, and a negative pressure region in the hydraulic system 20A.
  • a main hydraulic pump 23 that makes the oil suction / discharge direction and discharge flow rate variable
  • a boost pump 26 that maintains the inside of the hydraulic system 20A at a predetermined pressure
  • a negative pressure region in the hydraulic system 20A One or a plurality of accumulators 30 provided as hydraulic storage means for preventing cavitation of the main hydraulic pump 20A accompanying the formation are provided.
  • a swash plate pump which is a kind of variable displacement pump, is used, but an oblique shaft pump may be used as a pump having the same function.
  • the main hydraulic pump (swash plate pump) 23 is connected to the output shaft of the main motor 28 and adjusts the inclination angle of the swash plate, thereby changing the oil discharge direction and the discharge flow rate.
  • the illustrated main hydraulic pump 23 has two ports 23a and 23b, and one of these ports 23a and 23b is a discharge side and the other is a suction side according to the angle at which the swash plate is inclined. .
  • one port 23 a is connected to the hydraulic cylinders 21 A and 21 D via the oil pipe 24, and the other port 23 b is connected to the hydraulic cylinders 21 B and 21 C via the oil pipe 24.
  • the main hydraulic pump 23 is a pump that is always operated to supply hydraulic pressure when the steering gear 10A is effective.
  • the boost pump 26 is a hydraulic pump that is driven coaxially with the main hydraulic pump 23 using the main electric motor 28 as a drive source. Therefore, the boost pump 26 is always operated together with the main hydraulic pump 23 when steering by the steering machine 10A is effective.
  • the oil discharged from the boost pump 26 is connected to the oil pipe 24 via the boost oil pipe 24a.
  • the connection position of the boost oil pipe 24a is on the downstream side of the main hydraulic pump 23 having a function of switching the oil flow direction, and further, the oil pipe 24 connecting the port 23a and the hydraulic cylinders 21A and 21D and the other port 23b. Are branched and connected to an oil pipe 24 that connects the hydraulic cylinders 21B and 21C.
  • the boost oil pipe 24a is provided with an accumulator 30 such as a prada type as a hydraulic pressure storage means.
  • a total of three check valves 25a, 25b, and 25c are provided in the boost oil piping 24a on the upstream side and the downstream side of the accumulator 30, and all of the check valves are connected from the main hydraulic pump 23 to the boost pump 26 and The flow in the direction toward the accumulator 30 is prevented. Further, in the accumulator 30, the internal hydraulic pressure is maintained at a predetermined set pressure Pa by the operation of the boost pump 26. For example, as shown in FIG.
  • the set pressure Pa is a positive pressure lower than the in-circuit oil pressure Pm obtained in the hydraulic system 20A such as the cylinder 21 and the oil pipe 24 by the operation of the main hydraulic pump 23 (0 ⁇ Pa ⁇ Pm).
  • the accumulator 30 what is necessary is just to ensure the capacity
  • the main hydraulic pump 23 and the boost pump 28 are always operated by the main motor 28 during normal ship navigation.
  • the steering machine 10A is in a state where steering is effective because the hydraulic system 20A secures the in-circuit hydraulic pressure Pm, and the accumulator 30 maintains the set pressure Pa.
  • the first ram 22A is moved in the right direction by the hydraulic pressure acting on the cylinder 21.
  • the second ram 22B moves to the left in the drawing, steering is performed to rotate the chiller 13 and the rudder shaft 11 counterclockwise.
  • the oil discharged from the boost pump 26 and the accumulator 30 are stored via the check valves 25b and 25c.
  • the oil thus supplied is supplied from the boost oil pipe 24 a to the cylinder 21 through the oil pipe 24. Therefore, the oil supply capacity of the boost pump 26 and the accumulator 30 is added to the oil supply capacity of the main hydraulic pump 23, and the effective amount of oil in the hydraulic system 20A increases.
  • the check valve 25 a of the boost oil pipe 24 a prevents the high pressure on the main hydraulic pump 23 side from acting on the boost pump 30.
  • the hydraulic system 20A is supplied with oil from the boost pump 26 and the accumulator 30, so the hydraulic pressure in the hydraulic system 20A does not drop below the accumulator set pressure Pa.
  • a sufficient amount of oil can be replenished from the accumulator 30 serving as a hydraulic pressure storage means, so a negative pressure region is formed in the hydraulic system 20A.
  • the occurrence of cavitation in the main hydraulic pump 23 can be prevented.
  • the capacity of the boost pump 26 can be minimized. The downsizing of the boost pump 26 can reduce the power consumption of the main motor 28 and further reduce the amount of heat generated by the pump operation.
  • the boost pump 26 ⁇ / b> A can be operated independently of the main hydraulic pump 23. That is, the boost pump 26A uses the dedicated auxiliary electric motor 28A as a drive source, and the control unit 40 operates intermittently so as to maintain the accumulator 30 and the hydraulic pressure in the vicinity thereof within a predetermined range.
  • the predetermined range for maintaining the hydraulic pressure is determined based on the set pressure Pa. Then, by inputting the detection value of the pressure sensor 41 installed in the boost oil pipe 24a 'to the control unit 40, the control unit 40 starts the operation of the boost pump 26A with the lower limit pressure within a predetermined range, Operation control for stopping the operation of the boost pump 26A at the upper limit pressure is performed. Specifically, for example, when the predetermined range of hydraulic pressure is “Pa + ⁇ ”, the operation of the boost pump 26A is started at the set pressure Pa that is the lower limit pressure of the predetermined range, and boosted at “Pa + ⁇ ” that is the upper limit pressure of the predetermined range. The operation of the pump 26A is stopped.
  • the boost pump 26A can be operated only when necessary to maintain the accumulator 30 at a desired pressure, so that the power consumption of the auxiliary electric motor 28A and the amount of heat generated by the pump operation can be suppressed.
  • the predetermined range in this case is not limited to “Pa + ⁇ ” described above, and may be “Pa ⁇ ⁇ ”, for example.
  • the steering machine 10A since the hydraulic storage means such as the accumulator 30 that prevents cavitation of the main hydraulic pump 23 associated with the formation of the negative pressure regions in the hydraulic systems 20A and 20B is provided, the steering machine 10A is provided with oil. When the hydraulic pressure in the system is reduced, it is possible to prevent the negative pressure region from being formed in the hydraulic system 20A by replenishing oil from the hydraulic storage means. As a result, the formation of negative pressure regions in the hydraulic circuits 20A and 20B of the steering machine 10A can prevent cavitation from occurring in the main hydraulic pump 23, and can also prevent the generation of abnormal noise associated with this cavitation. .
  • the steering machine 10A provided with a hydraulic pressure storage means such as the accumulator 30 can minimize the capacity of the boost pumps 26 and 26A. As a result, it is possible to reduce the power consumption and the amount of heat generated by the operation. . Further, if the accumulator 30 is used as the hydraulic pressure storage means and the hydraulic pressure is maintained within a predetermined range around the accumulator 30, an intermittent operation in which the boost pump 26A capable of independent operation is operated only when necessary is performed. Compared with the boost pump 26 that operates continuously, power consumption and heat generation can be reduced. In addition, this invention is not limited to embodiment mentioned above, In the range which does not deviate from the summary, it can change suitably.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

L'invention porte sur un dispositif de gouvernail de bateau dans lequel la formation d’une cavitation dans une pompe hydraulique principale, due à une région de pression négative dans un circuit hydraulique, est empêchée afin d'éviter une génération de bruit provoquée par la cavitation. Le dispositif de gouvernail de bateau (10A) provoque le pivotement d'un arbre de gouvernail (11) et d'une plaque de gouvernail. L'arbre de gouvernail (11) est supporté pivotant par le bateau, et la plaque de gouvernail est fixée à l'arbre de gouvernail (11) et pivote avec l'arbre de gouvernail (11). Un mécanisme d'entraînement pour provoquer le pivotement de l'arbre de gouvernail (11) possède des actionneurs hydrauliques (21A, 21B, 21C, 21D) reliés à un système hydraulique (20A). Ledit système (20A) possède la pompe hydraulique principale (23) dans laquelle la direction d'aspiration et d’évacuation d'huile et le débit d'huile évacuée peuvent être modifiés, une pompe d'appoint (26) pour maintenir la pression dans le système hydraulique (20A) à un niveau prédéfini, et un accumulateur (30) en tant que moyen de stockage de pression hydraulique pour empêcher la cavitation dans la pompe hydraulique principale (23) provoquée par la formation d'une région de pression négative dans le système hydraulique (20A).
PCT/JP2008/070191 2008-11-06 2008-11-06 Dispositif de gouvernail de bateau WO2010052777A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN200880130050.4A CN102076557B (zh) 2008-11-06 2008-11-06 操舵机
JP2010536613A JP5232870B2 (ja) 2008-11-06 2008-11-06 舵取機
PCT/JP2008/070191 WO2010052777A1 (fr) 2008-11-06 2008-11-06 Dispositif de gouvernail de bateau
KR1020107028618A KR101334523B1 (ko) 2008-11-06 2008-11-06 조타기

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2008/070191 WO2010052777A1 (fr) 2008-11-06 2008-11-06 Dispositif de gouvernail de bateau

Publications (1)

Publication Number Publication Date
WO2010052777A1 true WO2010052777A1 (fr) 2010-05-14

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/070191 WO2010052777A1 (fr) 2008-11-06 2008-11-06 Dispositif de gouvernail de bateau

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JP (1) JP5232870B2 (fr)
KR (1) KR101334523B1 (fr)
CN (1) CN102076557B (fr)
WO (1) WO2010052777A1 (fr)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012090375A1 (fr) * 2010-12-27 2012-07-05 川崎重工業株式会社 Engrenage de gouverne de navire et procédé de gouverne de navire
JP2012210847A (ja) * 2011-03-30 2012-11-01 Mitsubishi Heavy Ind Ltd 船舶用舵取装置及びその制御方法
WO2013073442A1 (fr) * 2011-11-18 2013-05-23 三菱重工業株式会社 Dispositif de direction
WO2013080768A1 (fr) * 2011-11-28 2013-06-06 三菱重工業株式会社 Appareil de direction électrique
WO2014061776A1 (fr) * 2012-10-18 2014-04-24 三菱重工業株式会社 Appareil à gouverner et navire doté de ce dernier
WO2014161769A1 (fr) * 2013-04-02 2014-10-09 Thyssenkrupp Marine Systems Gmbh Mécanisme de gouvernail
JP2015085751A (ja) * 2013-10-29 2015-05-07 三菱重工業株式会社 操舵装置、操舵装置の制御方法及びプログラム
JP2018513951A (ja) * 2015-03-13 2018-05-31 ビ−エイイ− システムズ パブリック リミテッド カンパニ−ＢＡＥ ＳＹＳＴＥＭＳ ｐｌｃ 液圧系統
JP2020121594A (ja) * 2019-01-29 2020-08-13 川崎重工業株式会社 舶用操舵装置
JP7277890B1 (ja) * 2022-11-30 2023-05-19 油機工業株式会社 流体動力伝達装置および流体動力発生源の低圧側調整器
JP7423213B2 (ja) 2019-07-25 2024-01-29 株式会社 商船三井 舶用舵取機

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WO2014187837A1 (fr) * 2013-05-24 2014-11-27 Nestec S.A. Système de pompage et procédé pour un appareil de préparation de boisson
KR101523901B1 (ko) * 2013-07-26 2015-06-01 삼성중공업 주식회사 선박의 조타장치
JP6539454B2 (ja) * 2015-02-10 2019-07-03 三菱重工業株式会社 舵取機、操舵装置、舵板制御方法
KR200483730Y1 (ko) 2015-04-15 2017-07-03 훌루테크 주식회사 선박용 조타장치
CN104787238B (zh) * 2015-04-20 2017-03-08 中国船舶工业集团公司第七〇八研究所 一种可以直接测量操舵倒航机构操纵力的装置
CN106640794B (zh) * 2015-10-30 2018-03-16 北京精密机电控制设备研究所 一种液压夹套式平动离合机构
JP6660205B2 (ja) * 2016-02-22 2020-03-11 三菱重工業株式会社 油圧舵取装置及び船舶
KR200486892Y1 (ko) 2017-01-20 2018-08-09 훌루테크 주식회사 선박용 조타장치의 틸러
KR102021343B1 (ko) 2018-07-25 2019-09-16 하이쎈주식회사 선박용 조타 장치
CN114455053B (zh) * 2022-01-22 2023-03-07 嘉兴市锦佳船舶制造股份有限公司 一种河湖巡查船

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JP2014080155A (ja) * 2012-10-18 2014-05-08 Mitsubishi Heavy Ind Ltd 舵取機及びこれを備えた船舶
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JP7423213B2 (ja) 2019-07-25 2024-01-29 株式会社 商船三井 舶用舵取機
JP7277890B1 (ja) * 2022-11-30 2023-05-19 油機工業株式会社 流体動力伝達装置および流体動力発生源の低圧側調整器

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JP5232870B2 (ja) 2013-07-10

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