Icebreaker

Abstract

The present invention specifically discloses an ice-breaking vehicle, which includes a fuselage, a first floating member, a second floating member, a first driving device, a second driving device, a roll sensor and a controller. The first floating member includes a first floating plate, a plurality of first air bags and a plurality of first triggering members; the second floating member includes a second floating plate, a plurality of second air bags and a plurality of second triggering members; the first driving device is installed on the fuselage and can drive the first floating plate to rotate; the second driving device is installed on the fuselage and can drive the second floating plate to rotate; the roll sensor is installed on the fuselage and is used to detect the roll direction and roll angle of the fuselage; the controller is installed on the fuselage and is electrically connected to the roll sensor, the first driving device, the second driving device, the plurality of first triggering members and the plurality of second triggering members. According to the ice-breaking vehicle of the embodiment of the present invention, it can be righted and floated in time when it rolls over and sinks, realizing self-rescue.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and particularly relates to an ice-breaking vehicle. Background Art

[0002] There are many rivers in our country, with a significant monsoon climate and a complex and diverse climate type. From February to March every year, the rivers in the north enter the thawing period, and ice floods are likely to occur, which can impact the bridge foundations and endanger the safety of bridges. Currently, ice-breaking vehicles are usually used to break ice on the ice surface or floating ice, reducing the volume of ice floes and the harm of ice floods. However, when the ice-breaking vehicle is working in water, due to the complex water flow and floating ice conditions, the ice-breaking vehicle may be rammed by floating ice, resulting in the rollover of the fuselage and then sinking. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides an ice-breaking vehicle that can be righted and floated in time when it rolls over and sinks, achieving self-rescue.

[0004] The ice-breaking vehicle according to an embodiment of the present invention includes a fuselage, a first floating member, a second floating member, a first driving device, a second driving device, a roll sensor, and a controller. The first floating member includes a first floating plate, a plurality of first airbags, and a plurality of first triggering members. The first floating plate is rotatably connected to one side of the fuselage, and the plurality of first airbags are all installed on the first floating plate. The plurality of first triggering members are connected to the plurality of first airbags in one-to-one correspondence. The second floating member includes a second floating plate, a plurality of second airbags, and a plurality of second triggering members. The second floating plate is rotatably connected to the opposite side of the fuselage, and the plurality of second airbags are all installed on the second floating plate. The plurality of second triggering members are connected to the plurality of second airbags in one-to-one correspondence. The first driving device is installed on the fuselage and can drive the first floating plate to rotate. The second driving device is installed on the fuselage and can drive the second floating plate to rotate. The roll sensor is installed on the fuselage and is used to detect the roll direction and roll angle of the fuselage. The controller is installed on the fuselage and is electrically connected to the roll sensor, the first driving device, the second driving device, the plurality of first triggering members, and the plurality of second triggering members.

[0005] According to the icebreaker of the embodiment of the present invention, it has at least the following beneficial effects: when the fuselage of the icebreaker tilts, the tilt sensor senses the tilt direction and tilt angle of the fuselage, and the controller controls the first driving device and the second driving device to work, so that the first floating plate and the second floating plate rotate and open. If the side where the first floating plate of the fuselage sinks more, according to the tilt direction of the fuselage, the controller controls the first trigger and the second trigger to work, and the number of the first triggers working is greater than the number of the second triggers working. Then, according to the tilt angle of the fuselage, the number difference between the working first trigger and the working second trigger is determined. At this time, the number of the first airbags opened is more than the number of the second airbags opened, and the number difference between the two is appropriate, just making the fuselage return to the upright position and float. Similarly, if the side where the second floating plate of the fuselage sinks more, according to the tilt direction of the fuselage, the controller controls the first trigger and the second trigger to work, and the number of the second triggers working is greater than the number of the first triggers working. Then, according to the tilt angle of the fuselage, the number difference between the working first trigger and the working second trigger is determined. At this time, the number of the second airbags opened is more than the number of the first airbags opened, and the number difference between the two is appropriate, just making the fuselage return to the upright position and float. In summary, the icebreaker can return to the upright position and float in time when it rolls over and sinks, realizing self-rescue.

[0006] According to an embodiment of the present invention, the first driving device can drive the first floating plate to rotate from the initial position to the horizontal position, and the second driving device can drive the second floating plate to rotate from the initial position to the horizontal position.

[0007] According to an embodiment of the present invention, the first floating plate and the second floating plate are respectively located on both sides of the fuselage along the length direction of the fuselage. When the first floating plate is in the horizontal position, a plurality of the first airbags are arranged in sequence along the length direction of the fuselage. When the second floating plate is in the horizontal position, a plurality of the second airbags are arranged in sequence along the length direction of the fuselage.

[0008] According to an embodiment of the present invention, the fuselage is provided with a storage bin, the storage bin is provided with a first opening and a second opening. When the first floating plate is in the initial position, the first floating plate covers the first opening. When the second floating plate is in the initial position, the second floating plate covers the second opening.

[0009] According to an embodiment of the present invention, a conveyor belt is provided at the bottom of the storage bin. The ice breaker further includes a third driving device, a robotic arm, a plurality of mounting brackets, and a plurality of ice breaking mechanisms. The third driving device is fixed to the fuselage and can drive the robotic arm to rotate. One end of the robotic arm is provided with an electromagnetic connecting member. Along the length direction of the conveyor belt, the plurality of mounting brackets are sequentially placed on the conveyor belt, and the plurality of mounting brackets are used to respectively mount the plurality of ice breaking mechanisms. A metal connecting portion is provided at the end of the ice breaking mechanism. The third driving device, the electromagnetic connecting member, and the conveyor belt are all electrically connected to the controller.

[0010] According to an embodiment of the present invention, the electromagnetic connecting member is provided with an electromagnetic connecting post, and the metal connecting portion is provided with a metal connecting hole, and the electromagnetic connecting post can be fitted into the metal connecting hole.

[0011] According to an embodiment of the present invention, a first guiding groove is provided on the bottom wall of the storage bin. The first guiding groove is arranged along the length direction of the conveyor belt, and the conveyor belt is located in the first guiding groove. The mounting bracket is in guiding cooperation with the first guiding groove.

[0012] According to an embodiment of the present invention, a second guiding groove is further provided on the bottom wall of the storage bin. The second guiding groove communicates with the first guiding groove and forms an angle with each other. The second guiding groove can be in guiding cooperation with the mounting bracket. The ice breaker further includes a fourth driving device mounted on the fuselage, and the fourth driving device can drive the mounting bracket to move from the first guiding groove to the second guiding groove.

[0013] According to an embodiment of the present invention, the ice breaker further includes a hook cable assembly. The hook cable assembly includes a launcher, an anchor hook, a towing rope, and a wire winding wheel. The launcher is fixed to the fuselage, the anchor hook is installed in the launcher, one end of the towing rope is connected to the anchor hook, and the other end is connected to and wound around the wire winding wheel. The wire winding wheel is rotatably connected to the fuselage.

[0014] According to an embodiment of the present invention, the hook cable assembly further includes a fifth driving device mounted on the fuselage. The fifth driving device is drivingly connected to the wire winding wheel to drive the wire winding wheel to rotate.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The following further describes the present invention in conjunction with the drawings and embodiments, where:

[0017] Figure 1Schematic diagram of an icebreaker according to an embodiment of the present invention;

[0018] Figure 2 Top view of an icebreaker according to an embodiment of the present invention;

[0019] Figure 3 Schematic diagram of an icebreaker according to an embodiment of the present invention;

[0020] Figure 4 Installation schematic diagram of the mounting frame and manipulator of an icebreaker according to an embodiment of the present invention;

[0021] Figure 5 Exploded schematic diagram of the electromagnetic connector and grinding drill of an icebreaker according to an embodiment of the present invention;

[0022] Figure 6 Partial structural schematic diagram of the hook cable assembly of an icebreaker according to an embodiment of the present invention.

[0023] Reference numerals:

[0024] Icebreaker 1000;

[0025] Airframe 100; Storage bin 110; First opening 111; Second opening 112; Conveyor belt 113; First guide groove 114; Second guide groove 115; Hull part 120; Crawler belt 130; Binocular camera 140; Anemometer 150;

[0026] First floating member 200; First floating plate 210; First airbag 220; First trigger member 230;

[0027] Second floating member 300; Second floating plate 310; Second airbag 320; Second trigger member 330;

[0028] First driving device 410; Second driving device 420;

[0029] Roll angle sensor 500;

[0030] Controller 600;

[0031] Third driving device 710; Robot arm 720; Electromagnetic connector 721; Electromagnetic connection column 7211; Monocular camera 722;

[0032] Mounting frame 810; Icebreaking mechanism 820; Grinding drill 821; Impact drill 822; Manipulator 823; Metal connecting part 824; Metal connecting hole 8241;

[0033] Hook cable assembly 900; Emitter 910; Anchor hook 920; Towing rope 930; Wire winding wheel 940; Support frame 950; Housing 960. Detailed implementation manners

[0034] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as limiting the present invention.

[0035] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as up, down, inside, outside, etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0036] In the description of the present invention, if the first and the second are described only for the purpose of distinguishing technical features, they should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0037] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installation, connection, etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0038] There are many rivers in our country, the monsoon climate is significant, and the climate types are complex and diverse. From February to March every year, the northern rivers enter the thawing period, and it is easy to occur ice flood disasters, which impact the bridge bases and endanger the bridge safety. Currently, icebreakers are usually used to break the ice on the ice surface or floating ice, reduce the volume of ice floes, and reduce the harm of ice floods. However, when the icebreaker works in water, due to the complex water flow conditions and floating ice conditions, the icebreaker may be rammed by floating ice and cause the fuselage to roll over and then sink.

[0039] For this reason, an embodiment of the present invention provides an icebreaker 1000, specifically referring to the Figures 1 to 6 shown in the accompanying drawings of the specification.

[0040] Referring to Figure 1 and Figure 2As shown, an icebreaker 1000 according to an embodiment of the present invention includes a fuselage 100, a first floating member 200, a second floating member 300, a first driving device 410, a second driving device 420, a roll sensor 500, and a controller 600. In one embodiment, in a top view of the icebreaker 1000, the fuselage 100 is generally rectangular. It should be noted that a hull portion 120 is provided at the bottom of the fuselage 100, and the hull portion 120 is arranged along the width direction of the fuselage 100. Obviously, the shape of the hull portion 120 is similar to that of a ship, so that the icebreaker 1000 can obtain greater buoyancy when working on water. In addition, crawler belts 130 are provided on both sides of the hull portion 120 along the width direction of the fuselage 100. It can be understood that the icebreaker 1000 not only needs to be able to work on water, but also on ice. By providing the crawler belts 130, the amphibious function of the icebreaker 1000 can be realized, enabling it to work on both water and ice, and also to move on ordinary land. It should also be noted that since the hull portion 120 is arranged along the width direction of the fuselage 100, the crawler belts 130 are also arranged along the width direction of the fuselage 100, that is to say, the width direction of the fuselage 100 is the driving direction of the icebreaker 1000. Obviously, with this arrangement, the icebreaker 1000 is not prone to rollover. In another embodiment, the hull portion 120 is arranged along the length direction of the fuselage 100, which will not be elaborated here. In another embodiment, in a top view of the icebreaker 1000, the fuselage 100 is square, which will not be elaborated here.

[0041] Referring to Figure 1 and Figure 2As shown, the first floating member 200 includes a first floating plate 210, a plurality of first air bags 220, and a plurality of first trigger members 230. Among them, the first floating plate 210 is rotatably connected to one side of the fuselage 100. It should be noted that the first floating plate 210 is rotatably connected to one side of the fuselage 100 through a hinge structure. In one embodiment, the first floating plate 210 is located on one side of the fuselage 100 along the length direction of the fuselage 100. That is to say, the first floating plate 210 is rotatably connected to one side of the fuselage 100 in the length direction. It should be noted that the first floating plate 210 can be a rectangular plate, a square plate, etc., and no specific limitation is made here. In one embodiment, the first floating plate 210 is a rectangular plate, and the short side of the rectangular plate is rotatably connected to one side of the fuselage 100 along the length direction of the fuselage 100, so that the first floating plate 210 can provide greater buoyancy for the fuselage 100. In addition, a plurality of first air bags 220 are all installed on the first floating plate 210, and a plurality of first trigger members 230 are connected to the plurality of first air bags 220 in one-to-one correspondence. When the first trigger member 230 works, it can open the first air bag 220 connected to it to provide buoyancy for the fuselage 100. It should be noted that the first air bag 220 can be fixed to the first floating plate 210 by bonding or the like, and the first trigger member 230 can be fixed to the corresponding first air bag 220 by bonding or the like.

[0042] Referring to Figure 2 As shown, the first driving device 410 is installed on the fuselage 100 and can drive the first floating plate 210 to rotate. That is to say, the first driving device 410 is drivingly connected to the first floating plate 210. In one embodiment, the first driving device 410 can drive the first floating plate 210 to rotate from the initial position to the horizontal position. It should be noted that the first floating plate 210 can provide the maximum buoyancy for the fuselage 100 when it is in the horizontal position, and the initial position is any position determined during design. In one embodiment, when the first floating plate 210 is in the horizontal position, a plurality of first air bags 220 are arranged in sequence along the length direction of the fuselage 100. When the first floating plate 210 is a rectangular plate and the short side of the rectangular plate is rotatably connected to one side of the fuselage 100 along the length direction of the fuselage 100, it can be understood at this time that a plurality of first air bags 220 are arranged in sequence along the length direction of the first floating plate 210. It can be understood that at this time, the buoyancy provided by the plurality of first air bags 220 to the fuselage 100 is more reasonably distributed, which is beneficial to the floating of the fuselage 100. It should be noted that the plurality of first air bags 220 are arranged at intervals in sequence along the length direction of the first floating plate 210. In one embodiment, the first driving device 410 is a motor.

[0043] Referring to Figure 1 and Figure 2As shown, the second floating member 300 includes a second floating plate 310, a plurality of second air bags 320, and a plurality of second trigger members 330. Among them, the second floating plate 310 is rotatably connected to the opposite side of the fuselage 100. It should be noted that the second floating plate 310 is rotatably connected to the opposite side of the fuselage 100 through a hinge structure. In one embodiment, the second floating plate 310 is located on the other side of the fuselage 100 along the length direction of the fuselage 100. That is to say, the second floating plate 310 is rotatably connected to the other side of the fuselage 100 along the length direction. It should be noted that the second floating plate 310 can be a rectangular plate, a square plate, etc., and no specific limitation is made here. In one embodiment, the second floating plate 310 is a rectangular plate, and the short side of the rectangular plate is rotatably connected to the other side of the fuselage 100 along the length direction of the fuselage 100, so that the second floating plate 310 can provide greater buoyancy for the fuselage 100. In addition, a plurality of second air bags 320 are all installed on the second floating plate 310, and a plurality of second trigger members 330 are connected to the plurality of second air bags 320 in one-to-one correspondence. When the second trigger member 330 works, it can open the second air bag 320 connected to it to provide buoyancy for the fuselage 100. It should be noted that the second air bag 320 can be fixed to the second floating plate 310 by bonding or the like, and the second trigger member 330 can be fixed to the corresponding second air bag 320 by bonding or the like.

[0044] Referring to Figure 2 As shown, the second driving device 420 is installed on the fuselage 100 and can drive the second floating plate 310 to rotate. That is to say, the second driving device 420 is drivingly connected to the second floating plate 310. In one embodiment, the second driving device 420 can drive the second floating plate 310 to rotate from the initial position to the horizontal position. It should be noted that the second floating plate 310 can provide the maximum buoyancy for the fuselage 100 when it is in the horizontal position, and the initial position is any position determined during design. In one embodiment, when the second floating plate 310 is in the horizontal position, a plurality of second air bags 320 are arranged in sequence along the length direction of the fuselage 100. When the second floating plate 310 is a rectangular plate and the short side of the rectangular plate is rotatably connected to one side of the fuselage 100 along the length direction of the fuselage 100, it can be understood that a plurality of second air bags 320 are arranged in sequence along the length direction of the second floating plate 310 at this time. It can be understood that at this time, the buoyancy provided by the plurality of second air bags 320 to the fuselage 100 is more reasonably distributed, which is beneficial to the floating of the fuselage 100. It should be noted that the plurality of second air bags 320 are arranged at intervals in sequence along the length direction of the second floating plate 310. In one embodiment, the second driving device 420 is a motor.

[0045] Referring to Figure 1As shown, the roll sensor 500 is installed on the fuselage 100, and the roll sensor 500 is used to detect the roll direction of the fuselage 100. The roll sensor 500 is also used to detect the roll angle of the fuselage 100. It should be noted that the roll sensor 500 is installed at the middle position of the fuselage 100. For example, the roll sensor 500 is installed at the middle position of the upper part of the fuselage 100; the roll sensor 500 is installed at the middle position of the middle part of the fuselage 100; the roll sensor 500 is installed at the middle position of the lower part of the fuselage 100. With the above solution, the roll sensor 500 can better detect the roll direction and roll angle of the fuselage 100. It should be noted that the roll sensor 500 can be fixedly installed on the fuselage 100 by means of threaded connection, bonding, etc.

[0046] Referring to Figure 1 and Figure 2 As shown, the controller 600 is installed on the fuselage 100. Among them, the controller 600 can be fixedly installed on the fuselage 100 by means of threaded connection, etc. It should be noted that the controller 600 is electrically connected to the roll sensor 500, the controller 600 is electrically connected to the first driving device 410, the controller 600 is electrically connected to the second driving device 420, the controller 600 is electrically connected to a plurality of first trigger members 230, and the controller 600 is electrically connected to a plurality of second trigger members 330.

[0047] Referring to Figure 1 and Figure 2As shown, it should be noted that when the fuselage 100 of the icebreaker 1000 tilts, the tilt sensor 500 senses the tilt direction and tilt angle of the fuselage 100, and the controller 600 controls the first driving device 410 and the second driving device 420 to work, so that the first floating plate 210 and the second floating plate 310 rotate and open. In one embodiment, both the first floating plate 210 and the second floating plate 310 are opened to the horizontal position. If the side where the first floating plate 210 of the fuselage 100 sinks more, according to the tilt direction of the fuselage 100, the controller 600 controls the first trigger 230 and the second trigger 330 to work, and the number of working first triggers 230 is greater than the number of working second triggers 330. Then, according to the tilt angle of the fuselage 100, the difference in the number of the working first trigger 230 and the working second trigger 330 is determined. At this time, the number of opened first airbags 220 is more than the number of opened second airbags 320, and the difference in their numbers is appropriate, just making the fuselage 100 return to the upright position and float. For example, three first airbags 220 are opened and one second airbag 320 is opened; or three first airbags 220 are opened and two second airbags 320 are opened; or two first airbags 220 are opened and one second airbag 320 is opened. Similarly, if the side where the second floating plate 310 of the fuselage 100 sinks more, according to the tilt direction of the fuselage 100, the controller 600 controls the first trigger 230 and the second trigger 330 to work, and the number of working second triggers 330 is greater than the number of working first triggers 230. Then, according to the tilt angle of the fuselage 100, the difference in the number of the working first trigger 230 and the working second trigger 330 is determined. At this time, the number of opened second airbags 320 is more than the number of opened first airbags 220, and the difference in their numbers is appropriate, just making the fuselage 100 return to the upright position and float. For example, three second airbags 320 are opened and one first airbag 220 is opened; or three second airbags 320 are opened and two first airbags 220 are opened; or two second airbags 320 are opened and one first airbag 220 is opened. In summary, the icebreaker 1000 can return to the upright position and float in time when it rolls over and sinks, realizing self-rescue.

[0048] Referring to Figure 1 and Figure 2 As shown, in an embodiment of the icebreaker 1000 of the present invention, the icebreaker 1000 further includes a binocular camera 140 and an anemometer 150. Among them, the binocular camera 140 and the anemometer 150 are installed on the fuselage 100, and both the binocular camera 140 and the anemometer 150 are electrically connected to the controller 600. It should be noted that the binocular camera 140 is used to collect surrounding environmental information, such as the area of the ice surface where the icebreaker 1000 is located, or the size of the floating ice near the icebreaker 1000. The anemometer 150 is used to collect the wind speed of the environment where the icebreaker 1000 is located. Through the above settings, the icebreaking efficiency of the icebreaker 1000 can be improved.

[0049] Refer to Figure 1 and Figure 2 As shown, for an icebreaker 1000 according to an embodiment of the present invention, the fuselage 100 is provided with a storage bin 110. Among them, the storage bin 110 is provided with a first opening 111 and a second opening 112. It should be noted that when the first floating plate 210 is in the initial position, the first floating plate 210 covers the first opening 111. When the second floating plate 310 is in the initial position, the second floating plate 310 covers the second opening 112. It can be understood that in this embodiment, the first floating plate 210 and the second floating plate 310 are actually two doors of the storage bin 110. It should be noted that the size and shape of the first opening 111 match the size and shape of the first floating plate 210, and the size and shape of the second opening 112 match the size and shape of the second floating plate 310. In one embodiment, the first opening 111 is a rectangular opening, and the second opening 112 is a rectangular opening; in another embodiment, the first opening 111 is a square opening, and the second opening 112 is a square opening.

[0050] Refer to Figure 1 and Figure 2 As shown, a conveyor belt 113 is provided at the bottom of the storage bin 110. The icebreaker 1000 further includes a third driving device 710, a robotic arm 720, a plurality of mounting brackets 810, and a plurality of icebreaking mechanisms 820. Among them, along the length direction of the conveyor belt 113, the plurality of mounting brackets 810 are sequentially placed on the conveyor belt 113. It should be noted that the conveyor belt 113 is arranged along the length direction of the fuselage 100. Refer to Figure 1 and Figure 4 As shown, it should also be noted that the plurality of mounting brackets 810 are used to respectively mount the plurality of icebreaking mechanisms 820 one by one. In addition, a metal connecting portion 824 is provided at the end of the icebreaking mechanism 820. And the icebreaking mechanism 820 includes a grinding drill 821, an impact drill 822, and a robotic hand 823, and metal connecting portions 824 are provided at the ends of the grinding drill 821, the impact drill 822, and the robotic hand 823. Refer to Figure 3As shown, obviously, when one of the ice-breaking mechanisms 820 is installed on the robotic arm 720, for example, when the grinding drill 821 is installed on the robotic arm 720, there must be an idle mounting bracket 810. It should also be noted that the third driving device 710 is fixed to the fuselage 100 and can drive the robotic arm 720 to rotate, that is, the third driving device 710 is drivingly connected to the robotic arm 720. In one embodiment, the third driving device 710 is a motor. In addition, one end of the robotic arm 720 is provided with an electromagnetic connector 721 and a monocular camera 722. When the electromagnetic connector 721 works, it can generate magnetism and can adsorb the ice-breaking mechanism 820 through the metal connecting portion 824. The monocular camera 722 is used to collect the surrounding environment information at the end of the robotic arm 720, such as the ice-breaking situation of the ice-breaking mechanism 820. It should also be noted that the third driving device 710, the electromagnetic connector 721, the conveyor belt 113, and the monocular camera 722 are all electrically connected to the controller 600. Through the above settings, the robotic arm 720 can automatically replace different types of ice-breaking mechanisms 820 to cope with different floating ice.

[0051] Referring to Figure 1 and Figure 3 As shown, the process of the robotic arm 720 automatically replacing different types of ice-breaking mechanisms 820 is exemplified as follows: Initially, the electromagnetic connector 721 works, the grinding drill 821 is connected to the electromagnetic connector 721, the impact drill 822 and the manipulator 823 are installed in the corresponding mounting brackets 810, and one mounting bracket 810 is in an idle state. When starting the replacement, the controller 600 controls the conveyor belt 113 to move, so that the manipulator 823 reaches the first designated position and the idle mounting bracket 810 reaches the second designated position. Then, the controller 600 controls the third driving device 710 to work, and the third driving device 710 drives the robotic arm 720 to rotate. The robotic arm 720 also changes its own shape, so that the grinding drill 821 installed on the robotic arm 720 is placed in the idle mounting bracket 810. The controller 600 controls the electromagnetic connector 721 to stop working, the electromagnetic connector 721 loses magnetism, and disconnects from the metal connecting portion 824 of the grinding drill 821. The third driving member continues to drive the robotic arm 720 to rotate, and the robotic arm 720 also changes its own shape, so that the electromagnetic connector 721 of the robotic arm 720 abuts against the metal connecting portion 824 of the manipulator 823. The controller 600 controls the electromagnetic connector 721 to start working, the electromagnetic connector 721 generates magnetism, and adsorbs the metal connecting portion 824 of the manipulator 823, so that the manipulator 823 is fixed to the robotic arm 720. The automatic replacement process of other types of ice-breaking mechanisms 820 is similar to the above description and will not be elaborated here.

[0052] Referring to Figure 5As shown, it should be noted that the electromagnetic connecting member 721 is provided with an electromagnetic connecting post 7211, and the metal connecting portion 824 is provided with a metal connecting hole 8241. The electromagnetic connecting post 7211 can be fitted into the metal connecting hole 8241. With the above solution, the connection between the metal connecting member and the ice-breaking mechanism 820 can be made more stable.

[0053] Referring to Figure 2 As shown, for an ice-breaking vehicle 1000 according to an embodiment of the present invention, the bottom wall of the storage bin 110 is provided with a first guiding groove 114 and a second guiding groove 115. Among them, the first guiding groove 114 is arranged along the length direction of the conveyor belt 113. The conveyor belt 113 is located in the first guiding groove 114, and the mounting frame 810 is in guiding cooperation with the first guiding groove 114. In addition, the second guiding groove 115 communicates with the first guiding groove 114 and forms an angle with each other. The second guiding groove 115 can be in guiding cooperation with the mounting frame 810. It should be noted that the ice-breaking vehicle 1000 further includes a fourth driving device, which is installed on the fuselage 100 and can drive the mounting frame 810 to move from the first guiding groove 114 to the second guiding groove 115. In one embodiment, there are a plurality of second guiding grooves 115, and the plurality of second guiding grooves 115 are all perpendicular to the first guiding groove 114. In one embodiment, the fourth driving device is a cylinder. It should be noted that the upper surface of the conveyor belt 113 is flush with the bottom wall of the second guiding groove 115, so that the mounting frame 810 can move from the first guiding groove 114 to the second guiding groove 115, and can also move from the second guiding groove 115 to the first guiding groove 114. It can be understood that by providing the first guiding groove 114 and the second guiding groove 115, the movement of the mounting frame 810 is made more accurate. In addition, the second guiding groove 115 also plays a role of avoidance. When one mounting frame 810 enters the second guiding groove 115 and is fixed, other mounting frames 810 can move on the conveyor belt. When this mounting frame 810 moves out of the second guiding groove 115 and returns to the conveyor belt 113 again, the relative position of this mounting frame 810 and other mounting frames 810 has changed. That is, by providing the second guiding groove 115 and the fourth driving device, the relative positions between the plurality of mounting frames 810 can be changed, that is, the relative positions between the plurality of ice-breaking mechanisms 820 can be changed. Thus, the need for the robotic arm 720 to automatically replace different types of ice-breaking mechanisms 820 can be better met.

[0054] Referring to Figure 1 and Figure 6As shown, an icebreaker 1000 according to an embodiment of the present invention further includes a hook cable assembly 900. The hook cable assembly 900 includes a launcher 910, an anchor hook 920, a towing rope 930, and a wire winding wheel 940. Among them, the launcher 910 is fixed to the fuselage 100 and is electrically connected to the controller 600. For example, the launcher 910 is fixedly connected to the fuselage 100 by means of threaded connection or the like. The anchor hook 920 is installed in the launcher 910. Obviously, the launcher 910 can launch the anchor hook 920. One end of the towing rope 930 is connected to the anchor hook 920, and the other end is connected to and wound around the wire winding wheel 940, and the wire winding wheel 940 is rotatably connected to the fuselage 100. It should be noted that the hook cable assembly 900 further includes a support frame 950, and the wire winding wheel 940 is rotatably connected to the fuselage 100 through the support frame 950. That is, the wire winding wheel 940 is rotatably connected to the support frame 950, and the support frame 950 is fixedly connected to the fuselage 100. Among them, the support frame 950 can be fixedly connected to the fuselage 100 by means of welding or the like. It should also be noted that the icebreaker 1000 further includes a housing 960. The housing 960 is fixed to the fuselage 100 and covers the towing rope 930, the wire winding wheel 940, and the support frame 950 inside it to protect the above components.

[0055] Referring to Figure 6 As shown, it should be noted that with the above solution, if the first floating member 200 and the second floating member 300 fail and cannot return the fuselage 100 of the icebreaker 1000 to the upright position and float, the controller 600 controls the launcher 910 to work and launches the anchor hook 920 to hook the ice surface to prevent the icebreaker 1000 from sinking further. In one embodiment, the hook cable assembly 900 further includes a fifth driving device installed on the fuselage 100. The fifth driving device is drivingly connected to the wire winding wheel 940 to drive the wire winding wheel 940 to rotate. It can be understood that with the above solution, when the anchor hook 920 hooks the ice surface, the controller 600 controls the fifth driving device to work, and the fifth driving device drives the wire winding wheel 940 to rotate, thereby gradually retracting the towing rope 930. Since the anchor hook 920 is fixed to the ice surface, the fuselage 100 of the icebreaker 1000 is subjected to a pulling force at this time and gradually moves towards the ice surface, making it more convenient for people to rescue the icebreaker 1000. In one embodiment, the fifth driving device is a motor.

[0056] The above has described the embodiments of the present invention in detail with reference to the accompanying drawings. Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. Icebreaker, characterized in that, Comprising: Airframe; A first floating member, including a first floating plate, a plurality of first airbags, and a plurality of first triggering members. The first floating plate is rotatably connected to one side of the airframe. A plurality of the first airbags are all installed on the first floating plate, and a plurality of the first triggering members are respectively connected to the plurality of first airbags in one-to-one correspondence; A second floating member, including a second floating plate, a plurality of second airbags, and a plurality of second triggering members. The second floating plate is rotatably connected to the opposite side of the airframe. A plurality of the second airbags are all installed on the second floating plate, and a plurality of the second triggering members are respectively connected to the plurality of second airbags in one-to-one correspondence; A first driving device, installed on the airframe and capable of driving the first floating plate to rotate; A second driving device, installed on the airframe and capable of driving the second floating plate to rotate; A roll sensor, installed on the airframe and used to detect the roll direction and roll angle of the airframe; A controller, installed on the airframe, and electrically connected to the roll sensor, the first driving device, the second driving device, a plurality of the first triggering members, and a plurality of the second triggering members; The first driving device can drive the first floating plate to rotate from the initial position to the horizontal position, and the second driving device can drive the second floating plate to rotate from the initial position to the horizontal position; The airframe is provided with a storage bin, and the storage bin is provided with a first opening and a second opening. When the first floating plate is in the initial position, the first floating plate covers the first opening. When the second floating plate is in the initial position, the second floating plate covers the second opening; The bottom of the storage bin is provided with a conveyor belt. The icebreaker further includes a third driving device, a robotic arm, a plurality of mounting brackets, and a plurality of icebreaking mechanisms. The third driving device is fixed to the airframe and can drive the robotic arm to rotate. One end of the robotic arm is provided with an electromagnetic connecting member. Along the length direction of the conveyor belt, a plurality of the mounting brackets are sequentially placed on the conveyor belt. The plurality of mounting brackets are used to respectively mount a plurality of the icebreaking mechanisms. The end of the icebreaking mechanism is provided with a metal connecting portion. The third driving device, the electromagnetic connecting member, and the conveyor belt are all electrically connected to the controller.

2. The icebreaker according to claim 1, characterized in that, The first floating plate and the second floating plate are respectively located on both sides of the airframe along the length direction of the airframe. When the first floating plate is in the horizontal position, a plurality of the first airbags are sequentially arranged along the length direction of the airframe. When the second floating plate is in the horizontal position, a plurality of the second airbags are sequentially arranged along the length direction of the airframe.

3. The icebreaker according to claim 1, characterized in that, The electromagnetic connecting member is provided with an electromagnetic connecting post, and the metal connecting portion is provided with a metal connecting hole. The electromagnetic connecting post can be fitted into the metal connecting hole.

4. The icebreaker according to claim 1, characterized in that, The bottom wall of the storage bin is provided with a first guiding groove. The first guiding groove is arranged along the length direction of the conveyor belt. The conveyor belt is located in the first guiding groove, and the mounting bracket is in guiding cooperation with the first guiding groove.

5. The icebreaker according to claim 4, characterized in that, The bottom wall of the storage bin is further provided with a second guiding groove, which communicates with the first guiding groove and forms an angle therewith. The second guiding groove can be in guiding cooperation with the mounting frame. The ice-breaking vehicle further includes a fourth driving device mounted on the fuselage, and the fourth driving device can drive the mounting frame to move from the first guiding groove to the second guiding groove.

6. The icebreaker according to claim 1, characterized in that, The ice-breaking vehicle further includes a hook cable assembly, which includes a launcher, an anchor hook, a towing rope and a cable reel. The launcher is fixed to the fuselage, the anchor hook is installed in the launcher, one end of the towing rope is connected to the anchor hook, and the other end is connected to and wound around the cable reel. The cable reel is rotatably connected to the fuselage.

7. The icebreaker according to claim 6, characterized in that, The hook cable assembly further includes a fifth driving device mounted on the fuselage, and the fifth driving device is drivingly connected to the cable reel to drive the cable reel to rotate.

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