Underwater icebreaking device and underwater vehicle

Abstract

The underwater icebreaking device comprises a base, a positioning assembly and an ice drilling assembly, the positioning assembly comprises a positioning driving part and a plurality of positioning cones, the positioning cones are arranged on the base in a sliding mode and have the first state that the positioning cones retract into the base and the second state that the positioning cones protrude relative to the base, and the ice drilling assembly is arranged on the base. The positioning driving piece is in transmission connection with the multiple positioning cones so as to drive the positioning cones to be switched between the first state and the second state. The ice drilling assembly comprises an ice drilling driving part and a drilling machine, the drilling machine is arranged on the base in a sliding mode and provided with a drill bit capable of drilling holes in the floating ice, and the ice drilling driving part is in transmission connection with the drilling machine so that the drill bit can be close to or away from the floating ice. Due to the fact that all the positioning cones puncture the floating ice, reverse torque generated in the ice drilling process can be transmitted to the floating ice through all the positioning cones, the reverse torque generated in the ice drilling process is borne by the floating ice instead of the underwater vehicle, and the stability of the underwater vehicle in the ice drilling process is improved.

Description

Technical Field

[0001] The present invention relates to the field of underwater ice breaking, and in particular to an underwater ice breaking device and an underwater vehicle. Background Art

[0002] In today's polar exploration process, polar icebreaking is very important for polar exploration operations. For larger underwater vehicles, they can use their own buoyancy to break ice, but for smaller underwater vehicles, their own buoyancy cannot complete the buoyancy and icebreaking.

[0003] Therefore, it is necessary to use an ice drill to break the ice from bottom to top. The existing ice drill can refer to the patent application number CN201710310868.5. The ice drill includes a drill rod, a transmission structure and a drive device. The drive device drives the drill rod to rotate through the transmission structure, and then uses the rotating drill rod to drill ice. However, during the ice drilling process, the reverse torque generated by ice drilling needs to be borne by the underwater vehicle, which ultimately affects the stability of the underwater vehicle.

[0004] Therefore, how to prevent underwater vehicles from being subjected to the reverse torque caused by ice drilling is a technical problem that needs to be solved urgently. Summary of the invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies, to provide an underwater icebreaking device and an underwater vehicle, and to solve the technical problem in the prior art that the reverse torque generated by underwater ice drilling will affect the stability of the underwater vehicle.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: In one aspect, the present invention provides an underwater ice-breaking device, comprising: Pedestal; A positioning assembly, comprising a positioning drive and a plurality of positioning cones, wherein the positioning cones are slidably disposed on the base and have a first state of being retracted into the base and a second state of being protruded relative to the base, wherein the positioning drive is transmission-connected to the plurality of positioning cones to drive the positioning cones to switch between the first state and the second state; and The ice drilling assembly comprises an ice drilling drive and a drill, wherein the drill is slidably arranged on the base and has a drill bit capable of drilling holes on floating ice; the ice drilling drive is transmission-connected to the drill bit and drives the drill bit to slide so as to make the drill bit approach or move away from the floating ice.

[0007] In some embodiments, the positioning drive member includes a plurality of positioning drive parts, the plurality of positioning drive parts correspond one-to-one to the plurality of positioning cones, and the positioning drive parts are transmission-connected to the positioning cones to drive the positioning cones to slide relative to the base.

[0008] In some embodiments, the positioning cone has a number of closely arranged second transmission teeth. The positioning driving part includes a second driving motor and a second driving gear. The second driving gear is rotatably installed on the base, and the second driving gear meshes with a number of the second transmission teeth. The second driving motor is drivingly connected to the second driving gear, and drives the positioning cone to slide relative to the base by driving the second driving gear to rotate.

[0009] In some embodiments, the positioning assembly further includes a controller and a gyroscope. The gyroscope is installed on the base. The controller is communicatively connected to the gyroscope and a number of the positioning driving parts respectively. The controller controls each positioning driving part according to the feedback signal of the gyroscope, and adjusts the sliding distance of each positioning cone so that the base maintains a horizontal state.

[0010] In some embodiments, the drilling rig further includes a sliding seat and a rotation driving part. The sliding seat is slidably arranged on the base. The drill bit is rotatably installed on the sliding seat. The rotation driving part is installed on the sliding seat and is drivingly connected to the drill bit to drive the drill bit to rotate.

[0011] In some embodiments, the base is provided with an ice drilling guide hole, and the sliding seat is slidably arranged in the ice drilling guide hole.

[0012] In some embodiments, the base is provided with a number of positioning guide holes corresponding to a number of positioning cones one by one. The number of the positioning guide holes are arranged circumferentially along the ice drilling guide hole, and the positioning cones are movably inserted through the positioning guide holes.

[0013] In some embodiments, the sliding seat includes a bearing. The bearing is installed on the base, and the drill bit is embedded in the inner ring of the bearing.

[0014] In some embodiments, the outer side of the sliding seat has a number of closely arranged first transmission teeth. The ice drilling driving member includes a first driving motor and a first driving gear. The first driving gear is rotatably installed on the base, and the first driving gear meshes with a number of the first transmission teeth. The first driving motor is drivingly connected to the first driving gear, and drives the sliding seat to slide relative to the base by driving the first driving gear to rotate.

[0015] On the other hand, the present invention provides an underwater vehicle equipped with the above-mentioned underwater ice-breaking device.

[0016] First, the base can be installed on the underwater vehicle, and the movement of the underwater vehicle drives the entire underwater ice-breaking device to approach the floating ice. Subsequently, the positioning cones are switched from the first state to the second state, so that each positioning cone pierces the floating ice. Then, the ice-drilling driving member drives the drill to slide, so that the drill bit gradually penetrates into the floating ice, and then the drill bit drills a hole in the floating ice. Since each positioning cone pierces the floating ice, the reverse torque generated during the ice-drilling process will be transmitted to the floating ice through each positioning cone, so that the reverse torque generated during the ice-drilling process is borne by the floating ice instead of the underwater vehicle, improving the stability of the underwater vehicle during the ice-drilling process. Brief Description of the Drawings

[0017] Figure 1 is a schematic structural diagram of the underwater ice-breaking device provided by an embodiment of the present invention; Figure 2 is a schematic diagram of the connection relationship of the controller provided by an embodiment of the present invention; Description of the reference numerals: base 100, ice-drilling guide hole 110, positioning guide hole 120, positioning assembly 200, positioning driving member 210, positioning driving part 211, second driving motor 2111, second driving gear 2112, positioning cone 220, second transmission tooth 221, controller 230, gyroscope 240, ice-drilling assembly 300, ice-drilling driving member 310, first driving motor 311, first driving gear 312, drill 320, drill bit 321, sliding seat 322, bearing 3221, first transmission tooth 3222, rotation driving part 323, rotation motor 3231. Detailed Description of the Embodiments

[0018] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0019] In order to solve the technical problem that the reverse torque generated by underwater ice-drilling affects the stability of the underwater vehicle, the present invention provides an underwater ice-breaking device. The reverse torque generated during the ice-drilling process is transmitted to the floating ice, so that the reverse torque generated during the ice-drilling process is borne by the floating ice instead of the underwater vehicle, improving the stability of the underwater vehicle during the ice-drilling process.

[0020] It should be noted that the underwater ice-breaking device of the present invention is used for but not limited to underwater vehicles, etc. For the convenience of description, in the present invention, only the case where the underwater ice-breaking device is applied to an underwater vehicle is taken as an example for description, and the principle of the underwater ice-breaking device applied to other types of equipment is substantially the same as that applied to the underwater vehicle, and will not be elaborated herein one by one.

[0021] Please refer to Figure 1 ,Figure 1 This is a schematic structural diagram of an underwater ice-breaking device in an embodiment of the present invention. The underwater ice-breaking device includes a base 100, a positioning assembly 200, and a ice-drilling assembly 300. The positioning assembly 200 includes a positioning driving member 210 and a plurality of positioning cones 220. The positioning cones 220 are slidably disposed on the base 100, and have a first state of retracting into the base 100 and a second state of protruding relative to the base 100. The positioning driving member 210 is drivingly connected to the plurality of positioning cones 220 to drive the positioning cones 220 to switch between the first state and the second state. The ice-drilling assembly 300 includes an ice-drilling driving member 310 and a drill 320. The drill 320 is slidably disposed on the base 100, and the drill 320 has a drill bit 321 capable of drilling holes in floating ice. The ice-drilling driving member 310 is drivingly connected to the drill 320 to drive the drill 320 to slide, so that the drill bit 321 approaches or moves away from the floating ice.

[0022] In this embodiment, first, the base 100 can be installed on an underwater vehicle, and the movement of the underwater vehicle is used to drive the entire underwater ice-breaking device to approach the floating ice. Subsequently, the positioning cones 220 are switched from the first state to the second state, so that each positioning cone 220 penetrates the floating ice. Then, the ice-drilling driving member 310 is used to drive the drill 320 to slide, so that the drill bit 321 gradually penetrates into the floating ice, and then the drill bit 321 is used to drill holes in the floating ice. Since each positioning cone 220 penetrates the floating ice, the reverse torque generated during the ice-drilling process will be transmitted to the floating ice through each positioning cone 220, so that the reverse torque generated during the ice-drilling process is borne by the floating ice rather than by the underwater vehicle, improving the stability of the underwater vehicle during the ice-drilling process.

[0023] It can be understood that the main application scenario of the technical solution of the present invention is to drill holes in floating ice from bottom to top, but this does not mean that the technical solution of the present application is only applicable to the scenario of drilling holes in floating ice from bottom to top. The technical solution of the present application only needs to appropriately adjust the orientation of the underwater ice-breaking device, and the above-mentioned underwater ice-breaking device can then perform horizontal drilling or ice-breaking drilling.

[0024] In some embodiments, the positioning driving member 210 includes a plurality of positioning driving parts 211. The plurality of positioning driving parts 211 correspond to the plurality of positioning cones 220 one by one. The positioning driving part 211 is drivingly connected to the positioning cone 220 to drive the positioning cone 220 to slide relative to the base 100.

[0025] It can be understood that the placement direction of the base 100 determines the final drilling direction, and the main application scenario of the technical solution of the present application is to drill holes in floating ice from bottom to top. Therefore, it is extremely important to keep the base 100 horizontal. However, the bottom of the floating ice is often not flat. If the extending lengths of the positioning cones 220 are the same, it is impossible to keep the base 100 horizontal.

[0026] In order to keep the base 100 horizontal, in some of the embodiments, the positioning assembly 200 further includes a controller 230 and a gyroscope 240. The gyroscope 240 is installed on the base 100. The controller 230 is communicatively connected to the gyroscope 240 and several positioning driving parts 211 respectively. The controller 230 controls each positioning driving part 211 according to the feedback signal of the gyroscope 240, and adjusts the sliding distance of each positioning cone 220 to keep the base 100 horizontal. The gyroscope 240 can be used to monitor the tilt angle of the base 100 and feedback the tilt angle to the controller 230 in the form of an electrical signal. The controller 230 then adjusts the sliding distance of each positioning cone 220 according to the tilt angle of the base 100. Since the lengths of the various positioning cones 220 protruding from the base 100 are different, the tilt angle of the base 100 is changed until the base 100 is in a horizontal state.

[0027] It should be noted that the above embodiments apply the automatic balancing technology, and the automatic balancing technology has extensive application cases in the fields of "robots" and "robotic arms". The control program of the self-balancing technology will not be described in detail here. The controller 230 needs to combine the layout of the positioning cones 220 and the positioning driving parts 211 to adjust the tilt angle of the base 100 in real time. When facing floating ice with an uneven lower surface, the base 100 can still be kept horizontal, and then the positioning cones 220 can be kept vertical, and then the floating ice can be drilled in the vertical direction.

[0028] It can be understood that the above embodiments are not limited to keeping the base in a horizontal state, and the base can also be kept at a specific tilt angle to meet the needs of drilling ice in different directions.

[0029] In some of the embodiments, the positioning cone 220 has several closely arranged second transmission teeth 221. The positioning driving part 211 includes a second driving motor 2111 and a second driving gear 2112. The second driving gear 2112 is rotatably installed on the base 100, and the second driving gear 2112 meshes with several second transmission teeth 221. The second driving motor 2111 is drivingly connected to the second driving gear 2112, and drives the positioning cone 220 to slide relative to the base 100 by driving the second driving gear 2112 to rotate. When the second driving motor 2111 drives the second driving gear 2112 to rotate forward, since the second driving gear 2112 meshes with several second transmission teeth 221, the positioning cone 220 can be driven to approach the floating ice by the forward-rotating second driving gear 2112. When the second driving motor 2111 drives the second driving gear 2112 to rotate in reverse, since the second driving gear 2112 meshes with several second transmission teeth 221, the positioning cone 220 can be driven to move away from the floating ice by the reverse-rotating second driving gear 2112.

[0030] In some of these embodiments, the drill rig 320 further includes a sliding seat 322 and a rotation driving part 323. The sliding seat 322 is slidably arranged on the base 100. The drill bit 321 is rotatably installed on the sliding seat 322. The rotation driving part 323 is installed on the sliding seat 322 and is in transmission connection with the drill bit 321 to drive the drill bit 321 to rotate. By driving the drill bit 321 to rotate through the rotation driving part 323, the rotating drill bit 321 can be used to drill holes in the floating ice. Since the drill bit 321 is rotatably installed on the sliding seat 322, the drill bit 321 can be moved closer to or away from the floating ice by the sliding of the sliding seat 322. During the ice drilling process, it is necessary to use the sliding seat 322 to drive the drill bit 321 to move so that the drill bit 321 gradually penetrates into the floating ice. After the ice drilling operation is completed, it is also necessary to use the sliding seat 322 to drive the drill bit 321 to move so that the drill bit 321 gradually withdraws from the drilled hole.

[0031] It should be noted that as long as the installation structure that can make the sliding seat 322 slide relative to the base 100 is feasible. For example, a guide groove can be opened or a guide rail can be laid on the base 100, and then the sliding seat 322 can be made to slide on the guide rail or guide groove.

[0032] In some of these embodiments, the base 100 is provided with an ice drilling guide hole 110, and the sliding seat 322 is slidably arranged in the ice drilling guide hole 110. Under the guiding action of the ice drilling guide hole 110, the sliding seat 322 slides along the ice drilling guide hole 110. In addition, since the rotation driving part 323 and the ice drilling driving part 310 are hidden in the ice drilling guide hole 110, the rotation driving part 323 and the ice drilling driving part 310 can be protected.

[0033] It can be understood that as long as the installation structure that can make the positioning cone 220 slide relative to the base 100 is feasible, and the positioning cone 220 can also slide on the guide rail or chute.

[0034] In some of these embodiments, the base 100 is provided with a plurality of positioning guide holes 120 corresponding to a plurality of positioning cones 220 one by one. The plurality of positioning guide holes 120 are arranged circumferentially along the ice drilling guide hole 110, and the positioning cones 220 are movably inserted into the positioning guide holes 120. Under the guiding action of the positioning guide holes 120, the positioning cones 220 can slide along the ice drilling guide hole 110. Since the respective positioning guide holes 120 are arranged circumferentially along the ice drilling guide hole 110, the respective positioning cones 220 are arranged circumferentially along the ice drilling guide hole 110, and thus a more ideal supporting effect can be obtained for the positioning cones 220, and a greater torque can be borne.

[0035] Based on the above embodiments, in some embodiments, the sliding seat 322 includes a bearing 3221. The bearing 3221 is installed on the base 100, and the drill bit 321 is embedded in the inner ring of the bearing 3221. Since one end of the drill bit 321 is embedded in the inner ring of the bearing 3221, the friction of the drill bit 321 rotating relative to the base 100 is reduced.

[0036] Any implementation that can drive the carriage 322 to slide relative to the ice drilling guide hole 110 is feasible. For example, components such as electric push rods and hydraulic cylinders can be used to provide the power for the carriage 322 to slide. In some of these embodiments, several closely arranged first transmission teeth 3222 are provided on the outer side of the carriage 322. The ice drilling driving member 310 includes a first driving motor 311 and a first driving gear 312. The first driving gear 312 is rotatably installed on the base 100, and the first driving gear 312 meshes with several first transmission teeth 3222. The first driving motor 311 is drivingly connected to the first driving gear 312, and by driving the first driving gear 312 to rotate, the carriage 322 is driven to slide relative to the base 100. During actual use, when the first driving motor 311 drives the first driving gear 312 to rotate forward, since the first driving gear 312 and the first transmission teeth 3222 mesh with each other, the forward-rotating first driving gear 312 can drive the carriage 322 to move, so that the carriage 322 drives the drill bit 321 to approach (penetrate) the floating ice. If the first driving motor 311 drives the first driving gear 312 to rotate in reverse, similarly, since the first driving gear 312 and the first transmission teeth 3222 mesh with each other, the reversely rotating first driving gear 312 can also drive the carriage 322 to move, so that the carriage 322 drives the drill bit 321 to move away from the floating ice.

[0037] In some of these embodiments, the rotation driving part 323 includes a rotation motor 3231, and the rotating shaft of the rotation motor 3231 is directly connected to the drill bit 321. When the rotating shaft of the rotation motor 3231 rotates, it can directly drive the drill bit 321 to rotate, and the torque and rotational speed of the rotating shaft of the rotation motor 3231 are the same as those of the drill bit 321. An appropriate transmission structure can also be added between the rotation motor 3231 and the drill bit 321, and thus the rotational speed and torque of the drill bit 321 can be adjusted through the transmission structure.

[0038] In addition, the present invention provides an underwater vehicle equipped with the above-mentioned underwater ice-breaking device.

[0039] For a better understanding of the present invention, the following Figures 1 to 2 will describe the technical solution of the present invention in detail: First, the base 100 can be installed on the underwater vehicle, and the movement of the underwater vehicle can drive the entire underwater ice-breaking device close to the floating ice. Subsequently, the second driving motor 2111 drives the second driving gear 2112 to rotate forward. Since the second driving gear 2112 meshes with a number of second transmission teeth 221, the forward-rotating second driving gear 2112 can drive the positioning cone 220 close to the floating ice, causing each positioning cone 220 to pierce the floating ice. The gyroscope 240 monitors the tilt angle of the base 100 and feeds back the tilt angle to the controller 230 in the form of an electrical signal. The controller 230 then adjusts the sliding distance of each positioning cone 220 according to the tilt angle of the base 100. Since the lengths of the positioning cones 220 protruding from the base 100 are different, the tilt angle of the base 100 is changed until the base 100 is in a horizontal state. The first driving gear 312 is driven to rotate to drive the sliding seat 322 to slide relative to the base 100. During actual use, the first driving motor 311 drives the first driving gear 312 to rotate forward. Since the first driving gear 312 meshes with the first transmission tooth 3222, the forward-rotating first driving gear 312 can drive the sliding seat 322 to move, causing the sliding seat 322 to drive the drill bit 321 close to (penetrate) the floating ice, and then using the drill bit 321 to drill a hole in the floating ice. Since each positioning cone 220 pierces the floating ice, the reverse torque generated during the ice drilling process will be transmitted to the floating ice through each positioning cone 220, so that the reverse torque generated during the ice drilling process is borne by the floating ice rather than by the underwater vehicle, improving the stability of the underwater vehicle during the ice drilling process.

[0040] It should be noted that the underwater ice-breaking device provided in this application is mainly applied to small underwater vehicles that are difficult to break ice by their own buoyancy. Such small underwater vehicles can use the above-mentioned underwater ice-breaking device to break ice by drilling. Then, a beacon or a signal transmitter can be placed above the floating ice through the drilled ice hole, so that scientific researchers can search for and recover the small underwater vehicle according to the beacon or the signal transmitter, which helps scientific researchers recover the small underwater vehicle during the polar underwater scientific research process.

[0041] In addition, the underwater ice-breaking device of this application also has a certain application prospect on large underwater vehicles. The underwater ice-breaking device of this application can be used to drill holes in the floating ice, and then destroy the ice layer structure, reducing the difficulty of large underwater vehicles breaking ice by buoyancy.

[0042] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application 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. Therefore, it should not be construed as a limitation to the present application. Unless otherwise clearly specified and defined, the terms "installed", "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0043] It should be noted that in the present application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0044] The specific embodiments of the present invention described above do not constitute a limitation to the protection scope of the present invention. Any other corresponding changes and modifications made according to the technical concept of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An underwater ice breaking device, characterized in that: include: Pedestal; A positioning assembly, comprising a positioning drive and a plurality of positioning cones, wherein the positioning cones are slidably disposed on the base and have a first state of being retracted into the base and a second state of being protruded relative to the base, wherein the positioning drive is transmission-connected to the plurality of positioning cones to drive the positioning cones to switch between the first state and the second state; as well as The ice drilling assembly comprises an ice drilling drive and a drill, wherein the drill is slidably arranged on the base and has a drill bit capable of drilling holes on floating ice; the ice drilling drive is transmission-connected to the drill bit and drives the drill bit to slide so as to make the drill bit approach or move away from the floating ice.

2. The underwater ice breaking device according to claim 1, characterized in that: The positioning drive member includes a plurality of positioning drive parts, and the plurality of positioning drive parts correspond to the plurality of positioning cones one by one. The positioning drive parts are transmission-connected to the positioning cones to drive the positioning cones to slide relative to the base.

3. The underwater ice breaking device according to claim 2, characterized in that: The positioning cone has a plurality of closely arranged second transmission teeth, and the positioning drive unit includes a second drive motor and a second drive gear. The second drive gear is rotatably mounted on the base, and the second drive gear is meshed with a plurality of the second transmission teeth. The second drive motor is transmission-connected to the second drive gear, and drives the positioning cone to slide relative to the base by driving the second drive gear to rotate.

4. The underwater ice breaking device according to claim 2, characterized in that: The positioning assembly also includes a controller and a gyroscope, the gyroscope is installed on the base, the controller is respectively connected to the gyroscope and several positioning drive units for communication, and the controller controls each positioning drive unit according to the feedback signal of the gyroscope to adjust the sliding distance of each positioning cone to keep the base level.

5. The underwater ice breaking device according to claim 1, characterized in that: The drilling rig further comprises a slide and a rotation driving unit, wherein the slide is slidably arranged on the base, the drill bit is rotatably mounted on the slide, and the rotation driving unit is mounted on the slide and transmission-connected to the drill bit to drive the drill bit to rotate.

6. The underwater ice breaking device according to claim 5, characterized in that: The base is provided with an ice drilling guide hole, and the slide seat is slidably arranged in the ice drilling guide hole.

7. The underwater ice breaking device according to claim 6, characterized in that: The base is provided with a plurality of positioning guide holes corresponding to the plurality of positioning cones one by one, the plurality of positioning guide holes are arranged circumferentially along the ice drilling guide hole, and the positioning cones are movably inserted into the positioning guide holes.

8. The underwater ice breaking device according to claim 5, characterized in that: The slide seat comprises a bearing, the bearing is mounted on the base, and the drill bit is embedded in the inner ring of the bearing.

9. The underwater ice breaking device according to claim 5, characterized in that: The outer side of the slide seat is provided with a plurality of closely arranged first transmission teeth, the ice drilling drive member includes a first drive motor and a first drive gear, the first drive gear is rotatably mounted on the base, and the first drive gear is meshed with a plurality of the first transmission teeth, the first drive motor is transmission-connected to the first drive gear, and drives the slide seat to slide relative to the base by driving the first drive gear to rotate.

10. An underwater vehicle, characterized in that: It is equipped with an underwater ice-breaking device as claimed in any one of claims 1 to 9.

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