An underwater ice-penetrating buoy based on chemical energy thermal ice melting

Abstract

An underwater ice-penetrating buoy based on chemical energy thermal ice melting relates to the field of underwater ice-breaking technology, comprising: an ice-melting reaction section cabin, a core control section cabin, an airbag, a counterweight section and an outer shell; the core control section cabin comprises a gas release device, and the counterweight section comprises a foamed solid buoyancy material; during the extension stage, the gas release device inflates the airbag, and the airbag expands to squeeze the foamed solid buoyancy material out of the outer shell, and the buoy posture is adjusted to an overall vertical state; the ice-melting reaction section cabin comprises a water ball, a needle, a quicklime bag and a PCB control board, and the outer shell comprises a head outer shell; when the ice-melting reaction is started, the PCB control board controls the needle to pierce the water ball, and an exothermic reaction occurs with the quicklime in the quicklime bag, and the generated water vapor enters the head outer shell, heats the head outer shell, and the water vapor escapes through the holes on the surface of the head outer shell and contacts the ice, thereby achieving ice melting and ice penetration.

Description

Technical Field

[0001] The invention relates to an underwater ice-penetrating buoy based on chemical energy thermal ice melting, belonging to the technical field of underwater ice breaking. Background Art

[0002] With the rapid expansion of the application scope of underwater icebreaking technology, underwater icebreaking technology has gradually covered polar ice expeditions and exploration of subglacial lake ecosystems. For example, the Arctic Ocean has a cold climate and is covered with thick ice all year round. In winter, 73% of the sea surface is frozen, with an average thickness of 3 meters; in summer, 57% of the sea surface is covered with ice.

[0003] There are two common technologies for penetrating ice:

[0004] 1: Physical ice breaking method: Use a rotating drill bit with multiple blades and install it on the front end of a cylindrical probe. This probe must be equipped with an auxiliary mechanical device to react to the torque generated during the ice breaking process and act on the side wall of the borehole through a clamp or track to push it downward. The disadvantages of this method are very obvious.

[0005] (1): The mechanical structure will be extremely complex and the manufacturing cost will be high.

[0006] (2): Poor stability. When facing special environments such as ice-water interface, the torque generated before and after the drill bit may cause irreversible damage.

[0007] (3): The control is difficult. How to adjust the drill torque, speed, precession speed, axial force and other parameters in different application scenarios to achieve the optimal solution.

[0008] (4): Ice chips are difficult to handle. Since the volume of drilled ice chips is much larger than that of ice of the same mass, a machine is needed to compress the ice chips to a volume similar to that of ice of the same mass or transport them out of the hole.

[0009] 2: Thermal icebreaking method: Multiple heat plates (immovable) are distributed and installed on the front probe of the underwater robot. In an environment close to the surface of the ice, the heating equipment transfers heat energy to the ice-melting metal shell, raising the temperature of the ice to melt it, thus forming a passage for passage. Common heat sources include electric heaters and heat released by chemical reactions.

[0010] However, thermal energy ice penetration technology still faces many challenges.

[0011] (1) Due to the limitation of battery capacity, the thickness of ice that can be penetrated by electric thermal ice penetration technology is limited.

[0012] (2) How to improve the utilization efficiency of thermal energy by precisely controlling the rate of chemical reactions and effectively manage energy release remains a key challenge in current research. Summary of the invention

[0013] In order to overcome the shortcomings of the prior art, an underwater ice-breaking machine with high ice-penetrating efficiency, low cost, simple structure, simple maintenance and repair, low noise and autonomous operation is provided.

[0014] An underwater ice-penetrating buoy based on chemical energy thermal ice melting comprises: an ice-melting reaction section cabin, a core control section cabin, an airbag, a counterweight section and an outer shell;

[0015] The core control section cabin includes a gas release device, and the counterweight section includes a foamed solid buoyancy material;

[0016] During the extension stage, the gas release device inflates the airbag, and after the airbag expands, the foamed solid buoyancy material is squeezed out of the shell, and the buoy posture is adjusted to an overall vertical state;

[0017] The ice melting reaction section cabin includes a water ball, a needle, a quicklime bag and a PCB control board, and the shell includes a head shell;

[0018] When the ice melting reaction is started, the PCB control board controls the needle to pierce the water ball, generating an exothermic reaction with the quicklime in the quicklime bag, and the generated water vapor enters the head shell to heat the head shell. The water vapor escapes through the holes on the surface of the head shell and contacts the ice, thereby achieving ice melting and ice penetration.

[0019] In a preferred embodiment, the counterweight section further comprises: a carbon fiber stick, a foamed solid buoyancy material and a counterweight section;

[0020] After the airbag is inflated, its length increases, pushing the core control section cabin, foamed solid buoyancy material, carbon fiber rod, and counterweight section backward. The foamed solid buoyancy material is squeezed out of the buoy, and the counterweight section moves backward, causing the center of gravity of the buoy to move backward; the volume of the airbag continues to increase when it is inflated, and the center of buoy moves forward, generating a correction torque to control the vertical posture of the buoy.

[0021] In a preferred embodiment, the airbag squeezes the core control section cabin, forcing the core control section cabin to move backward and push the foamed solid buoyancy material and the carbon fiber rod to move backward. The carbon fiber rod passes through the second 10mm flange in the core control section cabin. The second 10mm flange is tightly connected to the counterweight section outer shell with bolts and does not move therewith. The control section lower hatch cover in the core control section cabin is pushed backward by the expansion of the airbag until it is blocked by the second 10mm flange. The control section lower hatch cover stops moving. During this process, the foamed solid buoyancy material will be squeezed backward out of the counterweight section outer shell, and the counterweight section and the carbon fiber rod are connected to the core control section cabin and will continue to stay behind the buoy. The above process is the extension stage of the buoy.

[0022] In a preferred embodiment, the release of the foamed solid buoyancy material is controlled by an electromagnet and an airbag. The electromagnet is energized and the airbag is inflated to squeeze out the foamed solid buoyancy material. The electromagnet is magnetic when not energized and loses its magnetism when energized, thereby releasing the foamed solid buoyancy material.

[0023] In a preferred embodiment, the shell includes: a conical head shell and a counterweight section shell, wherein the conical head shell covers the front end of the ice-melting reaction section cabin, and the counterweight section shell covers the middle and rear ends of the ice-melting reaction section cabin and the core control section cabin.

[0024] In a preferred embodiment, the ice melting reaction section cabin is provided with a one-way valve. After the opening pressure of the one-way valve is set in advance, when the internal pressure of the one-way valve reaches a predetermined value, the one-way valve automatically opens to release steam.

[0025] In a preferred embodiment, the ice-melting reaction section cabin also includes: a 12mm Teflon tube, a first cabin fixing ring, a 70mm acrylic cabin, a second cabin fixing ring, an M20 stuffing box, a reaction section aluminum cover and an air outlet cover, and a second reaction section flange.

[0026] In a preferred embodiment, the one-way valve is connected to the m20 stuffing box through a 12mm Teflon tube and fixed at the front end of the ice-melting reaction section cabin, the head shell is connected to the reaction section aluminum cover air outlet cover by bolts, the reaction section aluminum cover air outlet cover, the second reaction section flange and the 70mm acrylic cabin are bonded together by acrylic special glue, the first cabin fixing ring and the second cabin fixing ring are connected to the positioning holes on the counterweight section shell by screws to achieve axial and radial fixation, the head shell is connected to the counterweight section shell by screws to achieve fixation, the ice-melting reaction section cabin is limited by the first cabin fixing ring and the head shell; the 70mm acrylic cabin is limited by the first cabin fixing ring and the second cabin fixing ring.

[0027] The technical solution adopted by the present invention to solve its technical problems is: the present invention can automatically adjust to a vertical posture with the head facing upward, avoiding the complex mechanical ice-breaking structure, using chemical exothermic reactions with cheap raw materials and high heat output to produce heat and melt ice, and can operate more efficiently and stably in complex polar environments, while significantly reducing costs and maintenance difficulties. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0029] Figure 1It is a schematic diagram of the appearance of an ice-melting reaction section cabin of an underwater ice-penetrating buoy based on chemical energy thermal ice melting according to an embodiment of the present invention;

[0030] Figure 2 is a schematic diagram of the appearance of a core control section cabin of an underwater ice-penetrating buoy based on chemical energy thermal ice melting according to an embodiment of the present invention;

[0031] Figure 3 is a schematic diagram of the appearance of an air bag and a counterweight section of an underwater ice-penetrating buoy based on chemical energy thermal ice melting according to an embodiment of the present invention;

[0032] Figure 4 It is a structural exploded diagram of an ice-melting reaction section cabin and a one-way valve of an underwater ice-penetrating buoy based on chemical energy thermal ice melting according to an embodiment of the present invention;

[0033] Figure 5 It is an exploded view of the ice melting reaction section cabin of an underwater ice-penetrating buoy based on chemical energy thermal ice melting according to an embodiment of the present invention;

[0034] Figure 6 is an exploded diagram of a core control section of an underwater ice-penetrating buoy based on chemical energy thermal ice melting according to an embodiment of the present invention;

[0035] Figure 7 is an exploded diagram of a core control section cabin of an underwater ice-penetrating buoy based on chemical energy thermal ice melting according to an embodiment of the present invention;

[0036] Figure 8 is an exploded view of an air bag and a counterweight section of an underwater ice-penetrating buoy based on chemical energy thermal ice melting according to an embodiment of the present invention;

[0037] Fig. 9 2 is a schematic diagram of the airbag and head shell structure of an underwater ice-penetrating buoy based on chemical energy thermal ice melting according to an embodiment of the present invention;

[0038] Fig.10 It is a schematic diagram of the outer shell structure of the counterweight section of an underwater ice-penetrating buoy based on chemical energy thermal ice melting according to an embodiment of the present invention.

[0039] Reference numerals list

[0040] 1. One-way valve; 2. 12mm Teflon tube; 3. M3 screw; 4. De-ice reaction section cabin; 5. First cabin fixing ring; 6. 70mm acrylic cabin; 7. Second cabin fixing ring; 8. Control section upper hatch; 9. Core control section cabin; 10. 90mm copper column; 11. Carbon dioxide gas release device; 12. Gas source fixing ring; 13. 90mm acrylic cabin; 14. Control section lower hatch; 15. Battery fixing bracket; 16. 2000mAh aircraft model battery; 17. First 10mm flange; 18. Carbon fiber stick; 19. Bottom cover limit fixing plate; 20. Foamed solid buoyancy material; 21. Second 10mm flange; 22. 20103 magnet sheet; 23. Electromagnet; 24. Counterweight section; 25. Second air pipe head; 26. PCB control board; 27. Airbag; 28. Head shell; 29. ​​Counterweight section shell; 30. M20 stuffing box; 31. Reactor section aluminum cover and air outlet cover; 32. First reactor section flange; 33. 30mm copper column; 34. Servo cantilever connector; 35. Needle; 36. MG90 servo; 37. 70mm copper column; 38. Water ball fixing plate; 39. Second reactor section flange; 40. Quicklime bag; 41. Water ball; 42. Servo bracket; 43. Air pipe head; 44. 55mm copper column; 45. Solenoid valve; 46. Solenoid valve fixing ring; 47. 10mm copper column; 48. Battery fixing tail plate. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] In the drawings of the specific embodiments of the present invention, in order to better and more clearly describe the working principles of the various components in the system, the connection relationship of the various parts in the device is shown, which only clearly distinguishes the relative position relationship between the various components, and cannot constitute a limitation on the signal transmission direction, connection sequence and size, dimensions and shape of the components or structures.

[0043] The buoy in the present invention comprises: an ice melting reaction section cabin, a core control section cabin, an air bag, a counterweight section and an outer shell. The air bag is located between the ice melting reaction section cabin and the core control section.

[0044] like Figure 1-10 As shown, the head of the buoy includes a one-way valve 1, a 12mm Teflon tube 2, an M3 screw 3, an ice-melting reaction section cabin 4, a first cabin fixing ring 5, a 70mm acrylic cabin 6, and a second cabin fixing ring 7.

[0045] The ice-melting reaction section cabin 4 includes: an m20 stuffing box 30, a reaction section aluminum cover and an air outlet cover 31, a first reaction section flange 32, a 30mm copper column 33, a steering gear cantilever connector 34, a needle 35, an mg90 steering gear 36, a 70mm copper column 37, a water ball fixing plate 38, a second reaction section flange 39, a quicklime bag 40, a water ball 41, and a steering gear bracket 42.

[0046] The weight of quicklime contained in the quicklime bag will be related to the thickness of the ice that needs to be melted, and the weight of quicklime can be flexibly adjusted between 120g and 300g.

[0047] The core control section includes: the control section upper hatch 8, the core control section cabin 9, the 90mm copper column 10, the carbon dioxide gas release device 11, the gas source fixing ring 12, the 90mm acrylic cabin 13, the control section lower hatch 14, the battery fixing frame 15, the air pipe head 43, the 55mm copper column 44, the solenoid valve 45, the solenoid valve fixing ring 46, the 10mm copper column 47, the battery fixing tail plate 48, the second air pipe head 25, the PCB control board 26, and the 2000mAh model aircraft battery 16.

[0048] The air bag 27 is connected to the tracheal head 43 .

[0049] The counterweight section includes: a first 10mm flange 17, a carbon fiber rod 18, a bottom cover limiting fixing plate 19, a foamed solid buoyancy material 20, a second 10mm flange 21, a 20103 magnet sheet 22, an electromagnet 23, and a counterweight section 24.

[0050] Among them, 20103 magnet sheet refers to a rectangular magnet sheet with a size of 20mm long, 10mm wide and 3mm thick.

[0051] The outer shell includes a conical head outer shell and a counterweight section outer shell. The conical head outer shell covers the front end of the ice-melting reaction section cabin, and the counterweight section outer shell covers the middle and rear ends of the ice-melting reaction section cabin and the core control section cabin.

[0052] The assembly method of each part is as follows: the one-way valve 1 is connected to the m20 stuffing box 30 through a 12mm Teflon tube 2 and fixed at the front end of the de-icing reaction section cabin 4, the head shell 28 is connected to the reaction section aluminum cover outlet cover 31 by bolts, the reaction section aluminum cover outlet cover 31, the second reaction section flange 39 and the 70mm acrylic cabin 6 are bonded together by acrylic special glue, the first cabin fixing ring 5 and the second cabin fixing ring 7 are connected to the positioning holes on the counterweight section shell 29 by screws to achieve axial and radial fixation, the conical head shell 28 is connected to the counterweight section shell 29 by screws to achieve fixation, the de-icing reaction section cabin 4 is limited by the first cabin fixing ring 5 and the conical head shell 28, and cannot move axially, thereby achieving axial positioning.

[0053] Acrylic glue is an adhesive specially used for bonding acrylic (polymethyl methacrylate, PMMA) materials.

[0054] The 70mm acrylic cabin 6 is limited by the first cabin fixing ring and the second cabin fixing ring to achieve axial fixation. The foamed solid buoyancy material 20 is axially fixed by the counterweight section 24 and the air source fixing ring 12 through the limiting method. The protrusion of the foamed solid buoyancy material 20 will fit with the notch on the counterweight section shell 29 to achieve radial positioning. The bottom cover limiting fixing plate 19 is connected to the counterweight section shell 29 by screws to achieve fixation.

[0055] The inflation process is realized through the carbon dioxide gas release device 11, and the electromagnetic valve 45 is used to control the air pipe conduction to inflate the airbag 27. After the airbag 27 is inflated, its length increases, pushing the core control section cabin 9, the foamed solid buoyancy material 20, the carbon fiber rod 18, and the counterweight section 24 backward. The foamed solid buoyancy material 20 is squeezed out of the buoy, and the center of gravity of the buoy moves backward. The volume of the airbag 27 increases when it is inflated, increasing the buoyancy and moving the center of buoyancy forward. The center of gravity and the center of buoyancy are pulled apart, generating a correction torque, effectively controlling the vertical posture of the buoy, and ensuring its stability and reliability in complex environments and during ice penetration.

[0056] The low-cost mg90 servo 36 is used to control the chemical reaction. It is not only inexpensive and reliable, but also helps to control the overall cost of the system and simplify maintenance. The one-way valve 1 set in the ice melting cone can automatically release steam or jet. The opening pressure of the one-way valve 1 can be set in advance. When the internal pressure reaches the predetermined value, they will automatically open and release steam. This design greatly simplifies the control logic of ice melting and ice penetration, reduces the manufacturing and maintenance costs of ice penetration buoys, and makes the use and maintenance of ice penetration buoys easier.

[0057] The release of the foamed solid buoyancy material 20 is controlled by the demagnetizing electromagnet 20103 magnet sheet 22 and the electromagnet 23. The electromagnet 23 is magnetic when not powered on and loses its magnetism when powered on. When the counterweight needs to be released, it is achieved by powering on, saving electricity and improving endurance. The electromagnet 23 itself is heavy and can be used as a counterweight to achieve more precise buoyancy adjustment, enhance underwater stability and operational flexibility. The buoy is carried by a large AUV and will be released later. The foamed solid buoyancy material gives the buoy itself a certain buoyancy and can ensure that the buoy can float naturally after leaving the AUV. When releasing the buoy, the AUV will release a counterweight of the same weight as the buoy to balance the AUV's own buoyancy. The buoy will start working after being released.

[0058] After being released by the AUV and starting to work, the buoy will slowly rise to the ice surface due to its own buoyancy, and the acceleration sensor built into the PCB control board 26 will detect the acceleration data of the buoy in real time. When the buoy is in a relatively stable state after contacting the ice surface, the acceleration will become extremely small. At this time, the PCB control board 26 controls the solenoid valve 45 to open, so that the carbon dioxide gas in the carbon dioxide gas release device 11 inflates the airbag 27. During the inflation process of the airbag 27, its volume expands, which will squeeze the core control section cabin 9, forcing the core control section cabin 9 to move backward and push the foamed solid buoyancy material 20 and the carbon fiber stick 18 to move backward. During this period, the carbon fiber stick 18 passes through the second 10mm flange 21. During the whole process, the second 10mm flange 21 is tightly connected to the counterweight section shell 29 with bolts and does not move accordingly. The control section lower hatch cover 14 is pushed backward by the expansion of the airbag 27 until it is blocked by the second 10mm flange 21, and the control section lower hatch cover 14 stops moving. During this process, the foamed solid buoyancy material 20 will be squeezed backward out of the counterweight section shell, and the buoy tail counterweight section 24 and the carbon fiber stick 18 are connected to the core control section cabin 9, so they will continue to stay behind the buoy. The above process is the extension stage of the buoy. After the extension stage is completed, the center of gravity of the entire buoy will move backward due to the influence of the backward movement of the counterweight section 24, the buoyancy of the buoy will increase (carbon dioxide enters the air bag 27 to expand it and increase the volume of the buoy) and the center of buoyance will move toward the front end of the buoy. At this time, there is a large distance between the center of gravity and the center of buoyancy, so that the buoy itself generates a huge corrective torque that forces the buoy to rotate until the conical head shell 28 rests on the ice and the whole is in an upright posture in the water.

[0059] When the buoy extension stage is completed and the ice melting reaction is started, the PCB control board 26 controls the mg90 servo 36 to pierce the water ball 41 with the needle 35. After the water ball 41 is pierced, the liquid in the water ball and the quicklime bag 40 (taking 120g of quicklime as an example) react exothermically. The heat generated can raise the temperature of 166kg of ice by one degree at room temperature, and the steam in the reaction bag will continue to accumulate, generating enough pressure to open the one-way valve 1. Then the steam enters the hole of the conical head shell 28, continuously heating the conical head shell 28, and escapes through the holes on its surface and contacts the ice. The heat passes through the holes to continuously melt the ice in front into water. The cross-sectional area of ​​the melted ice is about 0.0078㎡. Finally, the buoy passes through the ice layer to reach the ice surface, and then the PCB control board 26 sends a position signal.

[0060] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0061] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An underwater ice-penetrating buoy based on chemical energy thermal ice melting, characterized in that: include: The ice-melting reaction section cabin, the core control section cabin, the airbag, the counterweight section and the outer shell; The core control section cabin includes a gas release device, and the counterweight section includes a foamed solid buoyancy material; During the extension stage, the gas release device inflates the airbag, and after the airbag expands, the foamed solid buoyancy material is squeezed out of the shell, and the buoy posture is adjusted to an overall vertical state; The ice melting reaction section cabin includes a water ball, a needle, a quicklime bag and a PCB control board, and the shell includes a head shell; When the ice melting reaction is started, the PCB control board controls the needle to puncture the water ball, and an exothermic reaction occurs with the quicklime in the quicklime bag. The generated water vapor enters the head shell, heats the head shell, and the water vapor escapes through the holes on the surface of the head shell and contacts the ice, thereby achieving ice melting and ice penetration. The counterweight section also includes: a carbon fiber stick; the length of the airbag increases after being inflated, pushing the core control section cabin, the foamed solid buoyancy material, the carbon fiber stick, and the counterweight section backward, the foamed solid buoyancy material is squeezed out of the buoy, and the counterweight section moves backward, causing the center of gravity of the buoy to move backward; the airbag continues to increase in volume, the center of buoyancy moves forward, and a correction torque is generated to control the vertical posture of the buoy; the airbag squeezes the core control section cabin, forcing the core control section cabin to move backward and push the foamed solid buoyancy material and the carbon fiber stick to move backward, the carbon fiber stick passes through the second 10mm flange in the core control section cabin, the second 10mm flange is tightly connected to the counterweight section shell with bolts and does not move therewith, the control section lower hatch cover in the core control section cabin is pushed backward by the expansion of the airbag until it is blocked by the second 10mm flange, and the control section lower hatch cover stops moving, during this process, the foamed solid buoyancy material is squeezed backward out of the counterweight section shell, and the counterweight section and the carbon fiber stick are connected to the core control section cabin, and will continue to stay behind the buoy, the above process is the extension stage of the buoy; The release of the foamed solid buoyancy material is controlled by the electromagnet and the airbag together. The electromagnet is energized and the airbag is inflated to extrude the foamed solid buoyancy material. The electromagnet is magnetic when not energized and loses its magnetism when energized, releasing the foamed solid buoyancy material.

2. The underwater ice-penetrating buoy based on chemical energy thermal ice melting according to claim 1, characterized in that: The housing includes: A conical head shell and a counterweight section shell, wherein the conical head shell covers the front end of the ice-melting reaction section cabin, and the counterweight section shell covers the middle and rear ends of the ice-melting reaction section cabin and the core control section cabin.

3. The underwater ice-penetrating buoy based on chemical energy thermal ice melting according to claim 1, characterized in that: The ice melting reaction section cabin is provided with a one-way valve. After the opening pressure of the one-way valve is set in advance, when the internal pressure of the one-way valve reaches a predetermined value, the one-way valve automatically opens to release steam.

4. The underwater ice-penetrating buoy based on chemical energy thermal ice melting according to claim 2, characterized in that: The ice-melting reaction section cabin also includes: a 12mm Teflon tube, a first cabin fixing ring, a 70mm acrylic cabin, a second cabin fixing ring, an M20 stuffing box, a reaction section aluminum cover, an air outlet cover and a second reaction section flange.

5. The underwater ice-penetrating buoy based on chemical energy thermal ice melting as claimed in claim 4, characterized in that: The one-way valve is connected to the m20 stuffing box through a 12mm Teflon tube and fixed at the front end of the de-icing reaction section cabin. The head shell is connected to the reaction section aluminum cover air outlet cover by bolts. The reaction section aluminum cover air outlet cover, the second reaction section flange and the 70mm acrylic cabin are bonded together with special acrylic glue. The first cabin fixing ring and the second cabin fixing ring are connected to the positioning holes on the counterweight section shell by screws to achieve axial and radial fixation. The head shell is connected to the counterweight section shell by screws to achieve fixation. The de-icing reaction section cabin is limited by the first cabin fixing ring and the head shell; the 70mm acrylic cabin is limited by the first cabin fixing ring and the second cabin fixing ring.

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