| 摘要 |
PURPOSE:To accurately and smoothly control the position and posture of a hull by providing a turning device and a turning angle detector between a support arm and two turning shafts that make a right angle with a propeller shaft, pass through the center of a propeller, and make a right angle with each other. CONSTITUTION:A first turning shaft 11 makes a right angle with a propeller shaft and is provided on the external surface of a duct 9 in a straight line that passes through the center of a propeller. In addition, a second turning shaft 12 is provided with an arm 13 that supports the shaft 11 on the tip so as to freely rotate, makes a right angle with the shaft 11, is provided in a straight line that passes through the center of the propeller, and is supported by a support member 3 at the hull side so as to freely turn. Then, turning angle detectors 16 and 19 are provided between the turning shaft 11 and arm 13 and between the turning shaft 12 and support arm 3. They detect the actual turning angle, feed it back aboard, and display or control it. Besides, a propulsion device 2 allows the turning of the turning shaft 12 independently in addition to the turning of the turning shaft 11. As a result, the thrust in the depth direction under the water is generated besides the two-dimensional movement and turning of the hull and its position and posture are controlled accurately and smoothly.
|
