CN110683020A - Auxiliary launching system for ship - Google Patents

Auxiliary launching system for ship Download PDF

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CN110683020A
CN110683020A CN201910620537.0A CN201910620537A CN110683020A CN 110683020 A CN110683020 A CN 110683020A CN 201910620537 A CN201910620537 A CN 201910620537A CN 110683020 A CN110683020 A CN 110683020A
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hull
trigger
propeller
limit block
mounting seat
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CN110683020B (en
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季建
杨凯盛
周枫
徐颖俊
林传颂
方越
傅光明
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Zhejiang Marine Development Research Institute
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Zhejiang Marine Development Research Institute
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C3/00Launching or hauling-out by landborne slipways; Slipways
    • B63C3/02Launching or hauling-out by landborne slipways; Slipways by longitudinal movement of vessel
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C3/00Launching or hauling-out by landborne slipways; Slipways
    • B63C3/12Launching or hauling-out by landborne slipways; Slipways using cradles

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  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
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Abstract

本发明公开了一种船舶辅助下水系统,旨在提供一种能够有效解决现有技术中通过拖船将船坞中的船舶拖到相应泊位的过程中,容易出现船体与船坞碰撞,导致船体受损的问题的船舶辅助下水系统。它包括一对安装座,一对安装座分布在船体的左右两侧,安装座安装在船体的外侧面上;推进器,推进器与安装座一一对应,推进器安装在对应的安装座上,所述推进器包括外罩、若干自上而下依次设置在外罩内的导流通道、一一对应的设置在导流通道内的螺旋桨及用于驱动螺旋桨的驱动电机,所述导流通道沿船体的前后方向延伸。

Figure 201910620537

The invention discloses an auxiliary launching system for ships, and aims to provide a system that can effectively solve the problem that the collision between the hull and the dock is likely to occur in the process of towing a ship in a dock to a corresponding berth by a tugboat in the prior art, resulting in damage to the hull. Problems with the ship's auxiliary launching system. It includes a pair of mounting seats, a pair of mounting seats are distributed on the left and right sides of the hull, and the mounting seats are installed on the outer side of the hull; the propeller, the propeller and the mounting seat are in one-to-one correspondence, and the propeller is installed on the corresponding mounting seat , the propeller includes an outer cover, a number of guide channels arranged in the outer cover sequentially from top to bottom, a propeller correspondingly arranged in the guide channel and a drive motor for driving the propeller, and the guide channel is arranged along the The front and rear directions of the hull extend.

Figure 201910620537

Description

一种船舶辅助下水系统A kind of ship auxiliary launching system

技术领域technical field

本发明涉及船舶制造领域,具体涉及一种船舶辅助下水系统。The invention relates to the field of shipbuilding, in particular to a ship auxiliary launching system.

背景技术Background technique

在船坞中建造好的船舶需下水进行舾装作业,而此时船舶动力系统还未安装,船舶处于无动力状态,目前对于船坞中建造好的船舶下水进行舾装作业时,一般采用拖船进行拖拽将船坞中建造好的船舶拖到相应泊位,目前这种方法存在以下不足,由于拖船通过绳揽固定在船舶尾部将船舶拖下水,整个过程拖曳的力量只作用在船舶尾部的一到两个点上,拖船对船舶的控制能力不佳,船舶在船坞中移动过程中,容易出现船体与船坞碰撞,导致船体受损的问题。The ship built in the dock needs to be launched for outfitting. At this time, the power system of the ship has not been installed, and the ship is in a powerless state. At present, when the ship built in the dock is launched for outfitting, a tugboat is generally used for towing. Towing the ship built in the dock to the corresponding berth, the current method has the following shortcomings. Since the tugboat is fixed at the stern of the ship through ropes to drag the ship into the water, the towing force in the whole process only acts on one or two of the stern of the ship. On the other hand, the tugboat has poor control over the ship. During the movement of the ship in the dock, it is easy to cause the hull to collide with the dock, resulting in damage to the hull.

发明内容SUMMARY OF THE INVENTION

本发明的目的是为了提供一种能够有效解决现有技术中通过拖船将船坞中的船舶拖到相应泊位的过程中,容易出现船体与船坞碰撞,导致船体受损的问题的船舶辅助下水系统。The purpose of the present invention is to provide a ship auxiliary launching system that can effectively solve the problem that the hull collides with the dock and causes damage to the hull during the process of towing a ship in a dock to a corresponding berth by a tugboat in the prior art.

本发明的技术方案是:The technical scheme of the present invention is:

一种船舶辅助下水系统,包括:一对安装座,一对安装座分布在船体的左右两侧,安装座安装在船体的外侧面上;推进器,推进器与安装座一一对应,推进器安装在对应的安装座上,所述推进器包括外罩、若干自上而下依次设置在外罩内的导流通道、一一对应的设置在导流通道内的螺旋桨及用于驱动螺旋桨的驱动电机,所述导流通道沿船体的前后方向延伸。本方案船舶辅助下水系统使用时,在船坞中的船舶建造好后,将安装座固定在船体的外侧面上(推进器安装在对应的安装座上),从而将推进器安装在船体上;船舶下水时,在海水进入船坞中,并使船坞中建造好的船舶浮起来后,通过在船体的左右两侧设置推进器,通过推进器带动船坞中建造好的船舶移动到相应泊位,同时,船体的左右两侧的推进器可以控制船舶进行各种运动,例如,直线航行(船体左右两侧的推进器同时工作,船体的左右两侧的推进力相同),或者左转向(船体左侧的推进器的部分螺旋桨停止工作或者全部螺旋桨停止工作,船体右侧的推进器的螺旋桨正常工作,使船体右侧的推进力大于左侧的推进力),或者右转向(船体右侧的推进器的部分螺旋桨停止工作或者全部螺旋桨停止工作,船体左侧的推进器的螺旋桨正常工作,使船体左侧的推进力大于右侧的推进力),从而控制船坞中建造好的船舶移动到相应泊位,并且能够有效解决现有技术中通过拖船将船坞中的船舶拖到相应泊位的过程中,容易出现船体与船坞碰撞,导致船体受损的问题。An auxiliary launching system for ships, comprising: a pair of mounting seats, a pair of mounting seats are distributed on the left and right sides of a hull, and the mounting seats are mounted on the outer side of the hull; Installed on the corresponding mounting seat, the propeller includes an outer cover, a number of guide channels arranged in the outer cover sequentially from top to bottom, a one-to-one corresponding propeller disposed in the guide channel and a drive motor for driving the propeller , the guide channel extends along the front and rear direction of the hull. When the ship auxiliary launching system of this scheme is used, after the ship in the dock is built, the mounting seat is fixed on the outer side of the hull (the propeller is installed on the corresponding mounting seat), so that the propeller is installed on the hull; When launching, after the sea water enters the dock and floats the ship built in the dock, the propellers are arranged on the left and right sides of the hull, and the propellers drive the ship built in the dock to move to the corresponding berth. The propellers on the left and right sides of the hull can control various movements of the ship, such as straight sailing (the propellers on the left and right sides of the hull work at the same time, and the propulsion force on the left and right sides of the hull is the same), or left steering (propulsion on the left side of the hull) Part of the propeller of the hull stops working or all the propellers stop working, the propeller of the propeller on the right side of the hull works normally, so that the propulsion force on the right side of the hull is greater than the propulsion force on the left side), or turn right (the part of the propeller on the right side of the hull) The propeller stops working or all the propellers stop working, the propeller of the propeller on the left side of the hull works normally, so that the propulsion force on the left side of the hull is greater than the propulsion force on the right side), so as to control the built ship in the dock to move to the corresponding berth, and can It effectively solves the problem that the hull is easily damaged due to collision between the hull and the dock in the process of towing the ship in the dock to the corresponding berth by the tugboat in the prior art.

作为优选,还包括触发式防碰撞装置,所述推进器位于船体的前部,所述安装座上设有推进器安装架,所述外罩通过竖向转轴转动设置在对应的推进器安装架上,所述触发式防碰撞装置与安装座一一对应,触发式防碰撞装置包括触发滚轮、连杆、设置在安装座上的支架、通过第一轴杆转动设置在支架上的触发摆杆、设置在支架上的内限位块与外限位块及连接触发摆杆与对应安装座的拉伸弹簧,所述第一轴杆与竖向转轴相平行,所述外罩、连杆、拉伸弹簧与船体的后端位于支架的同一侧,所述触发摆杆的第一端位于外罩与支架之间,所述连杆位于对应的安装座与竖向转轴之间,连杆的第一端与触发摆杆的第一端铰接相连,连杆的第二端与对应的外罩铰接相连,所述触发摆杆的第二端往船体的前端延伸并靠近船体的前端,所述触发滚轮通过第二轴杆转动设置在触发摆杆的第二端上,所述第二轴杆与竖向转轴相平行,所述内限位块、外限位块与触发滚轮位于第一轴杆的同一侧,所述触发摆杆位于内限位块与外限位块之间,且内限位块位于外限位块与船体之间,所述拉伸弹簧用于提供拉力,以使触发摆杆绕第一轴杆转动并抵在外限位块上,当触发摆杆抵在外限位块上时,所述导流通道沿船体的前后方向延伸;当触发摆杆由外限位块往内限位块方向转动时,触发摆杆通过连杆带动对应的外罩绕竖向转轴转动,以使导流通道的后端往船体的外侧倾斜。Preferably, a trigger type anti-collision device is also included, the thruster is located at the front of the hull, the mounting base is provided with a thruster mounting frame, and the outer cover is rotated and arranged on the corresponding thruster mounting frame through a vertical rotating shaft The trigger type anti-collision device corresponds to the mounting seat one by one, and the trigger type anti-collision device includes a trigger roller, a connecting rod, a bracket arranged on the installation seat, a trigger pendulum rod arranged on the bracket through the rotation of the first shaft rod, The inner limit block and outer limit block arranged on the bracket and the tension spring connecting the trigger pendulum rod and the corresponding mounting seat, the first shaft rod is parallel to the vertical rotation shaft, the outer cover, the connecting rod, the tension spring The spring and the rear end of the hull are located on the same side of the bracket, the first end of the trigger pendulum rod is located between the outer cover and the bracket, the connecting rod is located between the corresponding mounting seat and the vertical rotating shaft, and the first end of the connecting rod The second end of the connecting rod is hingedly connected with the first end of the triggering pendulum rod, the second end of the connecting rod is hingedly connected with the corresponding outer cover, the second end of the triggering pendulum rod extends towards the front end of the hull and is close to the front end of the hull, and the triggering roller passes through the first end of the hull. Two shaft rods are rotatably arranged on the second end of the trigger pendulum rod, the second shaft rod is parallel to the vertical rotation axis, and the inner limit block, the outer limit block and the trigger roller are located on the same side of the first shaft rod , the trigger pendulum rod is located between the inner limit block and the outer limit block, and the inner limit block is located between the outer limit block and the hull, and the tension spring is used to provide tension to make the trigger pendulum rod around The first shaft rod rotates and abuts on the outer limit block. When the trigger pendulum rod touches the outer limit block, the diversion channel extends along the front and rear directions of the hull; when the trigger pendulum rod is limited inward from the outer limit block When the block direction is rotated, the trigger pendulum rod drives the corresponding outer cover to rotate around the vertical axis through the connecting rod, so that the rear end of the diversion channel is inclined to the outside of the hull.

本方案的触发式防碰撞装置能够在不影响推进器带动船舶移动到相应泊位的情况下,进一步的避免船体与船坞碰撞,导致船体受损的问题,具体的,当船舶在推进器的作用下,在船坞中往前行走的过程中,若出现船舶偏斜(例如船舶头部往左偏斜),则在船舶头部与船坞左侧碰撞之前,船体左侧的触发摆杆的第二端上的触发滚轮将先与船坞左侧发生碰撞,当船体左侧的触发滚轮与船坞左侧发生碰撞时,船体左侧的触发摆杆的第二端将绕第一轴杆往内限位块方向转动,此时,船体左侧的触发摆杆将通过连杆带动对应的外罩绕竖向转轴转动,以使导流通道的后端往船体的外侧倾斜,如此,船体左侧的推进器的推进力将产生一个推动船体头部往右移动的推力,从而逐渐的使船体摆正航行,从而进一步的避免船体与船坞碰撞,导致船体受损的问题;当船体左侧的触发滚轮与船坞左侧分离,则在拉伸弹簧的作用下,使触发摆杆复位,即使触发摆杆在外限位块上时,使导流通道复位,即导流通道沿船体的前后方向延伸;同理,若船舶头部往右偏斜,则通过船体右侧的触发式防碰撞装置逐渐的使船体摆正航行,进一步的避免船体与船坞碰撞,导致船体受损的问题。The triggering anti-collision device of this solution can further avoid the collision between the hull and the dock and cause damage to the hull without affecting the propeller to drive the ship to move to the corresponding berth. Specifically, when the ship is under the action of the propeller , in the process of moving forward in the dock, if the ship is deflected (for example, the ship's head is deflected to the left), before the ship's head collides with the left side of the dock, the second end of the trigger pendulum on the left side of the hull The trigger roller on the hull will collide with the left side of the dock first. When the trigger roller on the left side of the hull collides with the left side of the dock, the second end of the trigger pendulum on the left side of the hull will be around the first shaft to limit the block inward At this time, the trigger lever on the left side of the hull will drive the corresponding cover to rotate around the vertical axis through the connecting rod, so that the rear end of the diversion channel is inclined to the outside of the hull. The propulsion will generate a thrust that pushes the head of the hull to the right, so as to gradually straighten the hull and sail, thereby further avoiding the collision between the hull and the dock and causing damage to the hull; when the trigger roller on the left side of the hull and the left side of the dock If the side is separated, under the action of the tension spring, the trigger pendulum is reset, even if the trigger pendulum is on the outer limit block, the diversion channel is reset, that is, the diversion channel extends along the front and rear directions of the hull; If the head of the ship is deflected to the right, the trigger-type anti-collision device on the right side of the hull will gradually make the hull straight and sail, further avoiding the collision between the hull and the dock, resulting in damage to the hull.

作为优选,安装座上还设有外罩限位块,所述外罩限位块位于竖向转轴与对应的安装座之间,且外罩限位块与船体的前端位于外罩的同一侧,当触发摆杆抵在外限位块上时,所述外罩抵在对应的外罩限位块上。如此,在触发滚轮未与船坞发生碰撞时,外罩将抵在对应的外罩限位块上,以克服推进器工作过程中对外罩产生的方向作用力,保证推进器能够稳定的带动船舶移动到相应泊位。Preferably, the mounting seat is further provided with a cover stopper, the cover stopper is located between the vertical rotating shaft and the corresponding mounting seat, and the cover stopper and the front end of the hull are located on the same side of the cover, when the pendulum is triggered When the rod abuts on the outer limit block, the cover abuts on the corresponding cover limit block. In this way, when the trigger roller does not collide with the dock, the cover will abut on the corresponding cover limit block to overcome the directional force generated on the cover during the working process of the propeller, and ensure that the propeller can stably drive the ship to move to the corresponding position. berth.

作为优选,当触发摆杆抵在外限位块上时,所述触发摆杆的第二端往船体的外侧倾斜。如此,当船舶出现偏斜,则有利于使触发摆杆的第二端上的触发滚轮,在船舶头部与船坞左侧碰撞之前,先与船坞左侧发生碰撞。Preferably, when the triggering pendulum rod abuts on the outer limit block, the second end of the triggering pendulum rod is inclined to the outside of the hull. In this way, when the ship is deflected, it is favorable for the trigger roller on the second end of the trigger pendulum to collide with the left side of the dock before the head of the ship collides with the left side of the dock.

作为优选,支架上还设有触发传感器,所述触发传感器与内限位块位于触发摆杆的同一侧,当触发摆杆抵在内限位块上时,则该触发摆杆触发对应的触发传感器,当船体一侧的触发摆杆触发对应的触发传感器时,则船体另一侧的推进器的驱动电机停止工作。当出现船体一侧(例如左侧)的触发摆杆抵在内限位块上时,则说明船舶往这一侧(左侧)偏斜的程度较为严重,此时,通过控制船体另一侧(右侧)的推进器的驱动电机停止工作,如此,可以避免船舶继续往这一侧(左侧)偏斜,尽快使船体摆正航行,有利于进一步的避免船体与船坞碰撞,导致船体受损的问题。Preferably, a trigger sensor is also provided on the bracket, and the trigger sensor and the inner limit block are located on the same side of the trigger pendulum rod. When the trigger pendulum rod touches the inner limit block, the trigger pendulum rod triggers the corresponding trigger When the trigger pendulum on one side of the hull triggers the corresponding trigger sensor, the drive motor of the propeller on the other side of the hull stops working. When the trigger pendulum on one side of the hull (for example, the left side) touches the inner limit block, it means that the ship is more seriously deflected to this side (left side). At this time, by controlling the other side of the hull The drive motor of the propeller (on the right side) stops working. In this way, the ship can be prevented from continuing to deflect to this side (left side), and the hull can be straightened and sailed as soon as possible. loss problem.

作为优选,驱动电机与螺旋桨一一对应。Preferably, the drive motors are in one-to-one correspondence with the propellers.

作为优选,安装座上设有电磁铁,所述安装座通过电磁铁吸附固定在船体的外侧面上。如此,可以方便的将安装座吸附固定在船体的外侧面上,并且可以方便的拆卸安装座。Preferably, an electromagnet is provided on the mounting seat, and the mounting seat is fixed on the outer side of the hull by being adsorbed and fixed by the electromagnet. In this way, the mounting seat can be easily adsorbed and fixed on the outer surface of the hull, and the mounting seat can be easily disassembled.

作为优选,安装座上设有密闭的安装腔体,所述电磁铁设置在安装腔体内。如此,可以避免电磁铁进水,保证电磁铁正常工作。Preferably, the mounting seat is provided with a sealed mounting cavity, and the electromagnet is arranged in the mounting cavity. In this way, the electromagnet can be prevented from entering water and the electromagnet can work normally.

作为另一种优选,安装座通过螺栓与船体连接。As another preference, the mounting seat is connected with the hull by bolts.

作为优选,一对安装座对称分布在船体的左右两侧。Preferably, a pair of mounting seats are symmetrically distributed on the left and right sides of the hull.

本发明的有益效果是:能够有效解决现有技术中通过拖船将船坞中的船舶拖到相应泊位的过程中,容易出现船体与船坞碰撞,导致船体受损的问题。The beneficial effect of the invention is that it can effectively solve the problem that the hull is easily damaged due to collision between the hull and the dock during the process of towing the ship in the dock to the corresponding berth by the tugboat in the prior art.

附图说明Description of drawings

图1是本发明的一种船舶辅助下水系统的一种结构示意图。FIG. 1 is a schematic structural diagram of a ship auxiliary launching system of the present invention.

图2是图1中A出处的局部放大图。FIG. 2 is a partial enlarged view of the source of A in FIG. 1 .

图3是图2中B向的一种局部结构示意图。FIG. 3 is a schematic diagram of a partial structure of the direction B in FIG. 2 .

图中:In the picture:

船体1;hull 1;

安装座2,推进器安装架2.1,外罩限位块2.2;Mounting base 2, thruster mounting bracket 2.1, cover limit block 2.2;

推进器3,外罩3.0,竖向转轴3.1,导流通道3.2,螺旋桨3.3,驱动电机3.4;Propeller 3, cover 3.0, vertical shaft 3.1, diversion channel 3.2, propeller 3.3, drive motor 3.4;

触发式防碰撞装置4,支架4.0,触发摆杆4.1,触发滚轮4.2,连杆4.3,拉伸弹簧4.4,第一轴杆4.5,内限位块4.6,外限位块4.7,第二轴杆4.8,触发传感器4.9;Trigger anti-collision device 4, bracket 4.0, trigger pendulum 4.1, trigger roller 4.2, connecting rod 4.3, tension spring 4.4, first shaft 4.5, inner limit block 4.6, outer limit block 4.7, second shaft 4.8, trigger sensor 4.9;

船坞5。Dock 5.

具体实施方式Detailed ways

为使本发明技术方案实施例目的、技术方案和优点更加清楚,下面结合附图对本发明实施例的技术方案进行清楚地解释和说明,但下述实施例仅为本发明的优选实施例,而不是全部实施例。基于实施方式中的实施例,本领域技术人员在没有做出创造性劳动的前提下所获得其他实施例,都属于本发明的保护范围。In order to make the purposes, technical solutions and advantages of the embodiments of the technical solutions of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly explained and described below with reference to the accompanying drawings, but the following embodiments are only preferred embodiments of the present invention, and Not all examples. Based on the examples in the implementation manner, other examples obtained by those skilled in the art without creative work shall fall within the protection scope of the present invention.

下面详细描述本发明的实施例,所述实施例的示例在附图中示出,其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的,仅用于解释本方案,而不能解释为对本发明方案的限制。The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are only used to explain the present solution, but cannot be construed as a limitation on the solution of the present invention.

参照下面的描述和附图,将清楚本发明的实施例的这些和其他方面。在这些描述和附图中,具体公开了本发明的实施例中的一些特定实施方式来表示实施本发明的实施例的原理的一些方式,但是应当理解,本发明的实施例的范围不受此限制。相反,本发明的实施例包括落入所附加权利要求书的精神和内涵范围内的所有变化、修改和等同物。These and other aspects of embodiments of the present invention will become apparent with reference to the following description and accompanying drawings. In these descriptions and drawings, some specific implementations of the embodiments of the invention are disclosed in detail to represent some ways of implementing the principles of the embodiments of the invention, but it should be understood that the scope of the embodiments of the invention is not limited thereby limit. On the contrary, embodiments of the present invention include all changes, modifications and equivalents falling within the spirit and scope of the appended claims.

在本发明的描述中,需要理解的是,术语“厚度”、“上”、“下”、“水平”、“顶”、“底”、“内”、“外”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。在本发明的描述中,“多个”的含义是至少两个,例如两个,三个等,除非另有明确具体的限定,“若干”的含义是表示一个或者多个。In the description of the present invention, it should be understood that the terms "thickness", "upper", "lower", "horizontal", "top", "bottom", "inner", "outer", "circumferential", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limiting the invention. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined, the meaning of "several" means one or more.

在本发明中,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或成一体:可以是机械连接,也可以是电连接或彼此可通讯;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通或两个元件的相互作用关系,除非另有明确的限定。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本发明中的具体含义。In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated: it can be a mechanical connection or an electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise expressly qualified. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

具体实施例一:如图1 、图3所示,一种船舶辅助下水系统,包括一对安装座2及推进器3。一对安装座2分布在船体1的左右两侧,安装座安装在船体的外侧面上,本实施例中,一对安装座对称分布在船体的左右两侧。安装座通过螺栓与船体连接,或通焊接与船体连接,本实施例中,安装座上设有电磁铁,安装座通过电磁铁吸附固定在船体的外侧面上。如此,可以方便的将安装座吸附固定在船体的外侧面上,并且可以方便的拆卸安装座。推进器与安装座一一对应。推进器安装在对应的安装座上。推进器3包括外罩3.0、若干自上而下依次设置在外罩内的导流通道3.2、一一对应的设置在导流通道内的螺旋桨3.3及用于驱动螺旋桨的驱动电机3.4。本实施例中,驱动电机与螺旋桨一一对应。导流通道3.2沿船体的前后方向延伸。Specific embodiment 1: As shown in Figures 1 and 3 , a ship auxiliary launching system includes a pair of mounting bases 2 and a propeller 3 . A pair of mounting seats 2 are distributed on the left and right sides of the hull 1, and the mounting seats are mounted on the outer side of the hull. In this embodiment, a pair of mounting seats are symmetrically distributed on the left and right sides of the hull. The mounting seat is connected with the hull by bolts, or is connected with the ship hull by welding. In this embodiment, an electromagnet is provided on the mounting seat, and the mounting seat is adsorbed and fixed on the outer side of the ship hull by the electromagnet. In this way, the mounting seat can be easily adsorbed and fixed on the outer surface of the hull, and the mounting seat can be easily disassembled. The thrusters correspond one-to-one with the mounts. The thrusters are mounted on the corresponding mounts. The propeller 3 includes an outer cover 3.0, a plurality of guide channels 3.2 sequentially arranged in the outer cover from top to bottom, propellers 3.3 corresponding to one-to-one in the guide channels, and a drive motor 3.4 for driving the propellers. In this embodiment, the driving motors are in one-to-one correspondence with the propellers. The guide channel 3.2 extends in the fore-aft direction of the hull.

具体使用时,在船坞中的船舶建造好后,将安装座固定在船体的外侧面上(推进器安装在对应的安装座上),从而将推进器安装在船体上;船舶下水时,在海水进入船坞5中,并使船坞5中建造好的船舶浮起来后,通过在船体的左右两侧设置推进器,通过推进器带动船坞5中建造好的船舶移动到相应泊位,同时,船体的左右两侧的推进器可以控制船舶进行各种运动,例如,直线航行(船体左右两侧的推进器同时工作,船体的左右两侧的推进力相同),或者左转向(船体左侧的推进器的部分驱动电机停止工作或者全部驱动电机停止工作,船体的右侧的推进器的驱动电机正常工作,使船体右侧的推进力大于左侧的推进力),或者右转向(船体右侧的推进器的部分驱动电机停止工作或者全部驱动电机停止工作,船体的左侧的推进器的驱动电机正常工作,使船体左侧的推进力大于右侧的推进力),从而控制船坞中建造好的船舶移动到相应泊位,并且能够有效解决现有技术中通过拖船将船坞中的船舶拖到相应泊位的过程中,容易出现船体与船坞碰撞,导致船体受损的问题。In specific use, after the ship in the dock is built, the mounting seat is fixed on the outer side of the hull (the propeller is installed on the corresponding mounting seat), so that the propeller is installed on the hull; when the ship is launched, in the sea water After entering the dock 5 and floating the ship built in the dock 5, the propellers are arranged on the left and right sides of the hull, and the propellers are used to drive the ships built in the dock 5 to move to the corresponding berths. The thrusters on both sides can control the ship to perform various motions, such as straight sailing (the thrusters on the left and right sides of the hull work at the same time, and the propulsion force on the left and right sides of the hull is the same), or left steering (the thrusters on the left side of the hull Part of the drive motor stops working or all drive motors stop working, the drive motor of the propeller on the right side of the hull works normally, so that the propulsion force on the right side of the hull is greater than the propulsion force on the left side), or right steering (the propeller on the right side of the hull) Part of the drive motor stops working or all drive motors stop working, the drive motor of the propeller on the left side of the hull works normally, so that the propulsion force on the left side of the hull is greater than the propulsion force on the right side), thereby controlling the movement of the built ship in the dock to the corresponding berth, and can effectively solve the problem that the ship hull is easily damaged due to collision with the dock during the process of towing the ship in the dock to the corresponding berth by the tugboat in the prior art.

进一步的,如图1 、图2、图3所示,还包括触发式防碰撞装置4,且触发式防碰撞装置与安装座一一对应。推进器3位于船体的前部。安装座上设有推进器安装架2.1。外罩3.0通过竖向转轴3.1转动设置在对应的推进器安装架上。触发式防碰撞装置4包括触发滚轮4.2、连杆4.3、设置在安装座上的支架4.0、通过第一轴杆4.5转动设置在支架上的触发摆杆4.1、设置在支架上的内限位块4.6与外限位块4.7及连接触发摆杆与对应安装座的拉伸弹簧4.4。第一轴杆与竖向转轴相平行。外罩、连杆、拉伸弹簧与船体的后端位于支架的同一侧。触发摆杆4.1的第一端位于外罩与支架之间。连杆4.3位于对应的安装座与竖向转轴之间,连杆的第一端与触发摆杆的第一端铰接相连,连杆的第二端与对应的外罩铰接相连。触发摆杆4.2的第二端往船体的前端延伸并靠近船体的前端。触发滚轮4.2通过第二轴杆4.8转动设置在触发摆杆的第二端上,第二轴杆与竖向转轴相平行。内限位块、外限位块与触发滚轮位于对应的第一轴杆的同一侧。触发摆杆位于内限位块与外限位块之间,且内限位块位于外限位块与船体之间。拉伸弹簧4.4用于提供拉力,以使触发摆杆绕第一轴杆转动并抵在外限位块上。当触发摆杆抵在外限位块上时,导流通道沿船体的前后方向延伸;当触发摆杆由外限位块往内限位块方向转动时,触发摆杆通过连杆带动对应的外罩绕竖向转轴转动,以使导流通道的后端往船体的外侧倾斜。Further, as shown in FIG. 1 , FIG. 2 , and FIG. 3 , a trigger type anti-collision device 4 is also included, and the trigger type anti-collision device corresponds to the mounting seat one by one. The propeller 3 is located in the front part of the hull. A thruster mounting bracket 2.1 is arranged on the mounting base. The outer cover 3.0 is rotated and arranged on the corresponding thruster mounting frame through the vertical rotation shaft 3.1. The trigger type anti-collision device 4 includes a trigger roller 4.2, a connecting rod 4.3, a bracket 4.0 arranged on the mounting seat, a trigger pendulum rod 4.1 arranged on the bracket through the rotation of the first shaft rod 4.5, and an inner limit block arranged on the bracket 4.6 and the outer limit block 4.7 and the tension spring 4.4 connecting the trigger pendulum and the corresponding mounting seat. The first shaft is parallel to the vertical axis of rotation. The housing, linkage, and extension springs are on the same side of the bracket as the rear end of the hull. The first end of the trigger pendulum 4.1 is located between the housing and the bracket. The connecting rod 4.3 is located between the corresponding mounting seat and the vertical rotating shaft, the first end of the connecting rod is hingedly connected with the first end of the trigger pendulum rod, and the second end of the connecting rod is hingedly connected with the corresponding outer cover. The second end of the trigger pendulum 4.2 extends towards the front end of the hull and is close to the front end of the hull. The trigger roller 4.2 is rotatably arranged on the second end of the trigger pendulum rod through a second shaft rod 4.8, and the second shaft rod is parallel to the vertical axis of rotation. The inner limit block, the outer limit block and the trigger roller are located on the same side of the corresponding first shaft. The trigger pendulum is located between the inner limit block and the outer limit block, and the inner limit block is located between the outer limit block and the hull. The tension spring 4.4 is used to provide tension, so that the trigger pendulum rod rotates around the first shaft rod and abuts against the outer limit block. When the trigger pendulum sticks against the outer limit block, the diversion channel extends along the front and rear directions of the hull; when the trigger pendulum rotates from the outer limit block to the inner limit block, the trigger pendulum drives the corresponding cover through the connecting rod Rotate around the vertical axis to make the rear end of the guide channel incline to the outside of the hull.

如图1所示,本实施例的触发式防碰撞装置能够在不影响推进器带动船舶移动到相应泊位的情况下,进一步的避免船体与船坞碰撞,导致船体受损的问题,具体的,当船舶在推进器的作用下,在船坞中往前行走的过程中,若出现船舶偏斜(例如船舶头部往左偏斜),则在船舶头部与船坞左侧碰撞之前,船体左侧的触发摆杆的第二端上的触发滚轮将先与船坞左侧发生碰撞,当船体左侧的触发滚轮与船坞左侧发生碰撞时,船体左侧的触发摆杆的第二端将绕第一轴杆往内限位块方向转动,此时,船体左侧的触发摆杆将通过连杆带动对应的外罩绕竖向转轴转动,以使导流通道的后端往船体的外侧倾斜,如此,船体左侧的推进器的推进力将产生一个推动船体头部往右移动的推力,从而逐渐的使船体摆正航行,从而进一步的避免船体与船坞碰撞,导致船体受损的问题;当船体左侧的触发滚轮与船坞左侧分离,则在拉伸弹簧的作用下,使触发摆杆复位,即使触发摆杆在外限位块上时,使导流通道复位,即导流通道沿船体的前后方向延伸;同理,若船舶头部往右偏斜,则通过船体右侧的触发式防碰撞装置逐渐的使船体摆正航行,进一步的避免船体与船坞碰撞,导致船体受损的问题。As shown in FIG. 1 , the trigger-type anti-collision device of this embodiment can further avoid the collision between the hull and the dock and cause damage to the hull without affecting the propeller to drive the ship to move to the corresponding berth. Specifically, when Under the action of the propeller, when the ship moves forward in the dock, if the ship is deflected (for example, the head of the ship is deflected to the left), before the head of the ship collides with the left side of the dock, the left side of the hull The trigger roller on the second end of the trigger pendulum will first collide with the left side of the dock, when the trigger roller on the left side of the hull collides with the left side of the dock, the second end of the trigger pendulum on the left side of the hull will wrap around the first The shaft rod rotates in the direction of the inner limit block. At this time, the trigger pendulum on the left side of the hull will drive the corresponding outer cover to rotate around the vertical axis through the connecting rod, so that the rear end of the diversion channel is inclined to the outside of the hull. The thrust of the propeller on the left side of the hull will generate a thrust that pushes the head of the hull to the right, thereby gradually straightening the hull and sailing, thereby further avoiding the collision between the hull and the dock and causing damage to the hull; If the trigger roller on the side is separated from the left side of the dock, under the action of the tension spring, the trigger pendulum is reset, even if the trigger pendulum is on the outer limit block, the diversion channel is reset, that is, the diversion channel is along the front and rear of the hull. In the same way, if the head of the ship is deflected to the right, the hull is gradually straightened and sailed through the trigger-type anti-collision device on the right side of the hull, which further avoids the collision between the hull and the dock, resulting in damage to the hull.

进一步的,如图2、图3所示,安装座2上还设有外罩限位块2.2,外罩限位块位于竖向转轴与对应的安装座之间,且外罩限位块与船体的前端位于外罩的同一侧,当触发摆杆抵在外限位块上时,外罩抵在对应的外罩限位块上。如此,在触发滚轮未与船坞发生碰撞时,外罩将抵在对应的外罩限位块上,以克服推进器工作过程中对外罩产生的方向作用力,保证推进器能够稳定的带动船舶移动到相应泊位。Further, as shown in Figures 2 and 3, the mounting seat 2 is also provided with a cover stop block 2.2, the cover stop block is located between the vertical rotation shaft and the corresponding mounting seat, and the cover stop block is connected to the front end of the hull. Located on the same side of the outer cover, when the triggering pendulum rod abuts on the outer limit block, the outer cover abuts on the corresponding outer cover limit block. In this way, when the trigger roller does not collide with the dock, the cover will abut on the corresponding cover limit block to overcome the directional force generated on the cover during the working process of the propeller, and ensure that the propeller can stably drive the ship to move to the corresponding position. berth.

进一步的,如图1、图2所示,当触发摆杆4.1抵在外限位块4.7上时,触发摆杆的第二端往船体的外侧倾斜。如此,当船舶出现偏斜,则有利于使触发摆杆的第二端上的触发滚轮,在船舶头部与船坞左侧碰撞之前,先与船坞左侧发生碰撞。Further, as shown in Figures 1 and 2, when the triggering pendulum rod 4.1 abuts on the outer limit block 4.7, the second end of the triggering pendulum rod is inclined to the outside of the hull. In this way, when the ship is deflected, it is favorable for the trigger roller on the second end of the trigger pendulum to collide with the left side of the dock before the head of the ship collides with the left side of the dock.

进一步的,安装座上设有密闭的安装腔体,电磁铁设置在安装腔体内(图中未显示)。如此,可以避免电磁铁进水,保证电磁铁正常工作。Further, the mounting seat is provided with a closed mounting cavity, and the electromagnet is arranged in the mounting cavity (not shown in the figure). In this way, the electromagnet can be prevented from entering water and the electromagnet can work normally.

具体实施例二,本实施例的其余结构参照具体实施例一,其不同之处在于:Specific embodiment 2, the remaining structures of this embodiment refer to specific embodiment 1, and the differences are:

一种船舶辅助下水系统,还包括控制器(图中未显示)。如图2所示,支架4.0上还设有触发传感器4.9,本实施例中,触发传感器与触发摆杆一一对应。触发传感器与内限位块位于对应的触发摆杆的同一侧。触发传感器与控制器电连接。各驱动电机分别与控制器电连接。当触发摆杆抵在内限位块上时,则该触发摆杆触发对应的触发传感器。本实施例中,触发传感器为压力传感器或接近传感器。当船体一侧的触发摆杆触发对应的触发传感器时,则船体另一侧的推进器的驱动电机停止工作,具体而言是,当船体一侧的触发摆杆触发对应的触发传感器时,则控制器控制船体另一侧的推进器的驱动电机停止工作。A marine auxiliary launching system also includes a controller (not shown). As shown in FIG. 2 , a trigger sensor 4.9 is further provided on the bracket 4.0. In this embodiment, the trigger sensor corresponds to the trigger pendulum rod one-to-one. The trigger sensor and the inner limit block are located on the same side of the corresponding trigger pendulum. The trigger sensor is electrically connected to the controller. Each drive motor is electrically connected to the controller, respectively. When the trigger pendulum rod touches the inner limit block, the trigger pendulum rod triggers the corresponding trigger sensor. In this embodiment, the trigger sensor is a pressure sensor or a proximity sensor. When the trigger pendulum on one side of the hull triggers the corresponding trigger sensor, the drive motor of the propeller on the other side of the hull stops working. Specifically, when the trigger pendulum on one side of the hull triggers the corresponding trigger sensor, then The controller controls the drive motor of the propeller on the other side of the hull to stop working.

当出现船体一侧(例如左侧)的触发摆杆抵在内限位块上时,则说明船舶往这一侧(左侧)偏斜的程度较为严重,此时,通过控制船体另一侧(右侧)的推进器的驱动电机停止工作,如此,可以避免船舶继续往这一侧(左侧)偏斜,尽快使船体摆正航行,有利于进一步的避免船体与船坞碰撞,导致船体受损的问题。When the trigger pendulum on one side of the hull (for example, the left side) touches the inner limit block, it means that the ship is more seriously deflected to this side (left side). At this time, by controlling the other side of the hull The drive motor of the propeller (on the right side) stops working. In this way, the ship can be prevented from continuing to deflect to this side (left side), and the hull can be straightened and sailed as soon as possible. loss problem.

以上所述,仅是本发明的较佳实施例,并非对本发明作任何限制,凡是根据本发明技术实质对以上实施例所作的任何简单修改、变更以及等效变换,均仍属于本发明技术方案的保护范围。The above are only preferred embodiments of the present invention and do not limit the present invention. Any simple modifications, changes and equivalent transformations made to the above embodiments according to the technical essence of the present invention still belong to the technical solutions of the present invention. scope of protection.

Claims (10)

1.一种船舶辅助下水系统,其特征是,包括:1. a ship auxiliary launching system, is characterized in that, comprises: 一对安装座,一对安装座分布在船体的左右两侧,安装座安装在船体的外侧面上;A pair of mounting seats, a pair of mounting seats are distributed on the left and right sides of the hull, and the mounting seats are installed on the outer side of the hull; 推进器,推进器与安装座一一对应,推进器安装在对应的安装座上,所述推进器包括外罩、若干自上而下依次设置在外罩内的导流通道、一一对应的设置在导流通道内的螺旋桨及用于驱动螺旋桨的驱动电机,所述导流通道沿船体的前后方向延伸。Propeller, the propeller is in one-to-one correspondence with the mounting seat, the propeller is installed on the corresponding mounting seat, and the propeller includes an outer cover, a number of diversion channels sequentially arranged in the outer cover from top to bottom, and one-to-one correspondingly arranged in The propeller and the drive motor for driving the propeller in the guide channel extend along the front-rear direction of the hull. 2.根据权利要求1所述的一种船舶辅助下水系统,其特征是,还包括触发式防碰撞装置,所述推进器位于船体的前部,所述安装座上设有推进器安装架,所述外罩通过竖向转轴转动设置在对应的推进器安装架上,2 . The auxiliary launching system for ships according to claim 1 , further comprising a trigger type anti-collision device, the propeller is located in the front part of the hull, and the mounting seat is provided with a propeller mounting frame, 2 . The outer cover is rotatably arranged on the corresponding propeller mounting frame through the vertical rotating shaft, 所述触发式防碰撞装置与安装座一一对应,触发式防碰撞装置包括触发滚轮、连杆、设置在安装座上的支架、通过第一轴杆转动设置在支架上的触发摆杆、设置在支架上的内限位块与外限位块及连接触发摆杆与对应安装座的拉伸弹簧,所述第一轴杆与竖向转轴相平行,The trigger type anti-collision device corresponds to the mounting seat one by one, and the trigger type anti-collision device includes a trigger roller, a connecting rod, a bracket arranged on the mounting seat, a trigger pendulum rod arranged on the bracket through the rotation of the first shaft, and the The inner limit block and the outer limit block on the bracket and the tension spring connecting the trigger pendulum rod and the corresponding mounting seat, the first shaft rod is parallel to the vertical rotation axis, 所述外罩、连杆、拉伸弹簧与船体的后端位于支架的同一侧,The outer cover, the connecting rod, the tension spring and the rear end of the hull are located on the same side of the bracket, 所述触发摆杆的第一端位于外罩与支架之间,所述连杆位于对应的安装座与竖向转轴之间,连杆的第一端与触发摆杆的第一端铰接相连,连杆的第二端与对应的外罩铰接相连,所述触发摆杆的第二端往船体的前端延伸并靠近船体的前端,所述触发滚轮通过第二轴杆转动设置在触发摆杆的第二端上,所述第二轴杆与竖向转轴相平行,The first end of the triggering pendulum rod is located between the cover and the bracket, the connecting rod is located between the corresponding mounting seat and the vertical rotating shaft, and the first end of the connecting rod is hingedly connected to the first end of the triggering pendulum rod. The second end of the rod is hingedly connected with the corresponding cover, the second end of the triggering pendulum rod extends toward the front end of the hull and is close to the front end of the hull, and the triggering roller is rotated and arranged on the second end of the triggering pendulum rod through the second shaft. On the end, the second shaft is parallel to the vertical axis of rotation, 所述内限位块、外限位块与触发滚轮位于第一轴杆的同一侧,所述触发摆杆位于内限位块与外限位块之间,且内限位块位于外限位块与船体之间,The inner limit block, the outer limit block and the trigger roller are located on the same side of the first shaft, the trigger pendulum is located between the inner limit block and the outer limit block, and the inner limit block is located at the outer limit between the block and the hull, 所述拉伸弹簧用于提供拉力,以使触发摆杆绕第一轴杆转动并抵在外限位块上,当触发摆杆抵在外限位块上时,所述导流通道沿船体的前后方向延伸;The tension spring is used to provide tension, so that the trigger pendulum rod rotates around the first shaft and abuts on the outer limit block. direction extension; 当触发摆杆由外限位块往内限位块方向转动时,触发摆杆通过连杆带动对应的外罩绕竖向转轴转动,以使导流通道的后端往船体的外侧倾斜。When the trigger pendulum rod rotates from the outer limit block to the inner limit block, the trigger pendulum rod drives the corresponding cover to rotate around the vertical axis through the connecting rod, so that the rear end of the diversion channel is inclined to the outside of the hull. 3.根据权利要求2所述的一种船舶辅助下水系统,其特征是,所述安装座上还设有外罩限位块,所述外罩限位块位于竖向转轴与对应的安装座之间,且外罩限位块与船体的前端位于外罩的同一侧,当触发摆杆抵在外限位块上时,所述外罩抵在对应的外罩限位块上。3 . The auxiliary launching system for ships according to claim 2 , wherein the mounting seat is further provided with a cover stop block, and the cover stop block is located between the vertical rotating shaft and the corresponding mounting seat. 4 . , and the cover limit block and the front end of the hull are located on the same side of the cover. When the triggering pendulum sticks against the outer limit block, the cover abuts on the corresponding cover limit block. 4.根据权利要求2或3所述的一种船舶辅助下水系统,其特征是,当触发摆杆抵在外限位块上时,所述触发摆杆的第二端往船体的外侧倾斜。4 . The auxiliary launching system for a ship according to claim 2 or 3 , wherein when the triggering pendulum rod touches the outer limit block, the second end of the triggering pendulum rod is inclined to the outside of the hull. 5 . 5.根据权利要求2或3所述的一种船舶辅助下水系统,其特征是,所述支架上还设有触发传感器,所述触发传感器与内限位块位于触发摆杆的同一侧,当触发摆杆抵在内限位块上时,则该触发摆杆触发对应的触发传感器,当船体一侧的触发摆杆触发对应的触发传感器时,则船体另一侧的推进器的驱动电机停止工作。5. The auxiliary launching system for ships according to claim 2 or 3, wherein a trigger sensor is also provided on the bracket, and the trigger sensor and the inner limit block are located on the same side of the trigger pendulum rod, when When the trigger pendulum rod touches the inner limit block, the trigger pendulum rod triggers the corresponding trigger sensor. When the trigger pendulum rod on one side of the hull triggers the corresponding trigger sensor, the drive motor of the propeller on the other side of the hull stops. Work. 6.根据权利要求1或2或3所述的一种船舶辅助下水系统,其特征是,所述驱动电机与螺旋桨一一对应。6. The auxiliary launching system for ships according to claim 1, 2 or 3, wherein the drive motor and the propeller are in one-to-one correspondence. 7.根据权利要求1或2或3所述的一种船舶辅助下水系统,其特征是,所述安装座上设有电磁铁,所述安装座通过电磁铁吸附固定在船体的外侧面上。7 . The auxiliary launching system of a ship according to claim 1 , wherein an electromagnet is arranged on the mounting seat, and the mounting seat is adsorbed and fixed on the outer side of the ship hull by the electromagnet. 8 . 8.根据权利要求7所述的一种船舶辅助下水系统,其特征是,所述安装座上设有密闭的安装腔体,所述电磁铁设置在安装腔体内。8 . The auxiliary launching system for ships according to claim 7 , wherein a closed installation cavity is provided on the installation seat, and the electromagnet is arranged in the installation cavity. 9 . 9.根据权利要求1或2或3所述的一种船舶辅助下水系统,其特征是,所述安装座通过螺栓与船体连接。9. The auxiliary launching system for a ship according to claim 1, 2 or 3, wherein the mounting base is connected to the hull by bolts. 10.根据权利要求1或2或3所述的一种船舶辅助下水系统,其特征是,所述的一对安装座对称分布在船体的左右两侧。10 . The auxiliary launching system for a ship according to claim 1 , wherein the pair of mounting seats are symmetrically distributed on the left and right sides of the hull. 11 .
CN201910620537.0A 2019-07-10 2019-07-10 Auxiliary launching system for ship Active CN110683020B (en)

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CN114481438A (en) * 2022-02-16 2022-05-13 嘉善爱欧特服装有限公司 Laying equipment of high-resilience thermal wadding sheet for cold-proof clothes
CN116573114A (en) * 2023-05-25 2023-08-11 上海白鹭新能源有限公司 Landing auxiliary device of photoelectric operation and maintenance ship

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CN2478922Y (en) * 2000-10-17 2002-02-27 范登高 Emergency danger-avoiding device for vessels
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CN116573114A (en) * 2023-05-25 2023-08-11 上海白鹭新能源有限公司 Landing auxiliary device of photoelectric operation and maintenance ship
CN116573114B (en) * 2023-05-25 2023-11-24 上海白鹭新能源有限公司 Landing auxiliary device of photoelectric operation and maintenance ship

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