Automatic icebreaker
By designing an automated icebreaker, which combines rubber wheels, a multi-axis robotic arm, and a power unit, the problem of ice formation in small hydropower station reservoirs has been solved. This has enabled efficient and safe ice handling, adapting to ice of varying thicknesses and areas, and reducing labor intensity and costs.
Patent Information
- Application Number
- CN202511501274.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-21
- Publication Date
- 2025-12-05
AI Technical Summary
The ice formation problem in the reservoir area of small hydropower stations cannot be handled efficiently and safely using existing technologies. In particular, manual removal is labor-intensive, costly, and poses many safety hazards, and existing equipment cannot adapt to ice layers of different thicknesses and areas.
Design an automated icebreaker equipped with rubber wheels, a multi-axis manipulator, a power unit, and cutting tools. The multi-axis manipulator controls the power unit to drill holes and break up the ice. The auger blades and side scrapers assist in the breaking process. Combined with the adjustment of the ship's center of gravity and the crushing method of the cutting tools, it can efficiently handle ice layers of different thicknesses and areas.
It enables efficient, safe, and low-cost de-icing operations in small hydropower station reservoir areas, reduces the labor intensity of workers, improves ice-breaking efficiency and safety, and adapts to ice layers of different thicknesses and areas.
Smart Images
Figure CN121062884A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of ice layer treatment equipment for reservoir area of hydropower station, and particularly relates to an automatic icebreaker. BACKGROUND
[0002] In some extremely cold areas, small hydropower stations are easily affected by low temperature in winter, and large-area ice formation is prone to occur on the water surface of the reservoir area, accompanied by ice slush and floating ice accumulation. If not removed in time, it will hinder the operation of water conservancy facilities such as gate opening and closing, and even threaten the safety of the dam and the water diversion pipeline due to the expansion of ice body, thereby affecting the safe production of the hydropower station.
[0003] At present, such ice formation problems mainly rely on manual removal, which has the problems of high labor intensity, high labor cost, and safety hazards such as personnel falling and frostbite. In addition, manual operation is difficult to efficiently process ice layers with different thicknesses, and there is a risk of residual.
[0004] In the prior art, large icebreakers are large in size and high in cost, and cannot be adapted to the narrow operation space of the reservoir area of the small hydropower station. Traditional small ice crushing tools need to be manually operated and cannot cope with ice layer scenes with different thicknesses and areas.
[0005] In summary, the prior art cannot meet the needs of the reservoir area of the small hydropower station for safe, efficient, and strong adaptability of ice breaking operation.
[0006] Therefore, an automatic icebreaker is provided. SUMMARY
[0007] Therefore, the technical problem to be solved by the present application is how to perform ice removal operation in the reservoir area of the small hydropower station.
[0008] The above technical problem is solved by the following technical scheme: the present application provides an automatic icebreaker, comprising, a ship body, a rubber wheel is arranged on the ship body; a cutter arranged on the ship body; a multi-axis manipulator arranged on the ship body; a driving member arranged on the moving end of the multi-axis manipulator; a power component arranged on the output shaft of the driving member; The power component comprises a driving shaft arranged on the output shaft of the driving member, and an auger blade arranged on the driving shaft, and the outer part of the auger blade is provided with a bucket.
[0009] In a preferred embodiment of the automatic icebreaker of the present application: the power component further comprises a side scraping strip arranged on the outer wall of the auger blade; The side scraping strip is arranged in the form of equidistant circumferential distribution on the outer wall of the bucket.
[0010] In a preferred embodiment of the automatic icebreaker of the present application, the end of the side scraping strip is provided with a piercing end. The end of the driving shaft is provided with a positioning cone.
[0011] In a preferred embodiment of the automatic icebreaker of the present application, the side scraping strip is provided with a crushing knife.
[0012] In a preferred embodiment of the automatic icebreaker of the present application, the knife comprises a vertical part and a horizontal part arranged on the hull. The knife is provided with two groups and is symmetrically arranged at the two ends of the hull.
[0013] In a preferred embodiment of the automatic icebreaker of the present application, the connection between the vertical part and the horizontal part is provided with a pressing part.
[0014] In a preferred embodiment of the automatic icebreaker of the present application, the connecting line of the pressing parts on the two groups of knives penetrates the rubber wheel.
[0015] In a preferred embodiment of the automatic icebreaker of the present application, the horizontal part is provided with an inclined part.
[0016] In a preferred embodiment of the automatic icebreaker of the present application, the multi-axis manipulator comprises a fixing frame arranged on the hull, a first branch arm rotatably arranged on the fixing frame, and a second branch arm rotatably arranged on the first branch arm. The driving member is arranged on the second branch arm.
[0017] In a preferred embodiment of the automatic icebreaker of the present application, the fixing frame is provided with a rotating table for controlling the rotation of the first branch arm, and the connection between the first branch arm and the rotating table, the connection between the first branch arm and the second branch arm, and the connection between the second branch arm and the driving member are all provided with rotating driving structures to control the relative rotation between the structures.
[0018] The present application has the advantages that the hull can be displaced on the water surface by the power component, and the ice layer can be broken by the knife, for the thicker ice layer, the multi-axis manipulator is used to climb the ice layer in cooperation with the power component, the auger blade is used for drilling operation, then the multi-axis manipulator is used to swing the power component to change the center of gravity of the hull, the hull swings around the rubber wheel as the fulcrum, the knives on both sides of the hull intermittently apply pressure to the ice layer on both sides of the hull to crush the ice layer, the present application has small size and low cost, and can cope with different thickness and area of ice layer scenes, reduces the labor of workers, and improves the safety and efficiency of ice breaking operation. BRIEF DESCRIPTION OF DRAWINGS
[0019] In order to make the technical solution of the embodiments of the present application clearer, the drawings of the embodiments of the present application will be briefly introduced as follows. Obviously, the drawings described in the following description are only related to some embodiments of the present application and not limit the present application.
[0020] Figure 1 The overall structure of the automatic icebreaker is shown.
[0021] Figure 2 The structure of the multi-axis manipulator of the automatic icebreaker is shown.
[0022] Figure 3 The structure of the power component of the automatic icebreaker is shown.
[0023] Figure 4 The connection structure of the hull and the cutter of the automatic icebreaker is shown.
[0024] Figure 5 The internal structure of the power component of the automatic icebreaker is shown.
[0025] Figure 6 The end surface structure of the power component of the automatic icebreaker is shown.
[0026] In the figure: 1, hull; 11, rubber wheel; 2, cutter; 21, vertical part; 22, horizontal part; 23, inclined part; 24, extrusion part; 3, multi-axis manipulator; 31, fixed frame; 311, rotating table; 32, first branch arm; 33, second branch arm; 4, driving member; 5, power component; 51, driving shaft; 511, positioning cone; 52, auger blade; 53, sleeve barrel; 531, inlet; 54, side scraping strip; 541, piercing end; 55, crushing cutter. DETAILED DESCRIPTION
[0027] In order to make those skilled in the art better understand the present application, the present application will be further described in detail below in conjunction with specific embodiments and drawings.
[0028] The terms used in the present application are those general terms currently widely used in the art in consideration of the functions about the present application, but these terms can be changed according to the intention of those skilled in the art, precedents, or new technologies in the art. In addition, specific terms can be selected by the applicant, and in this case, the detailed meaning thereof will be described in the detailed description of the present application. Therefore, the terms used in the specification should not be understood as simple names, but based on the meaning of the terms and the overall description of the present application.
[0029] REFERENCE Figures 1-6The embodiment provides an automatic icebreaker, which comprises a ship body 1, wherein a rubber wheel 11 is arranged on the ship body 1; the rubber wheel 11 is arranged at the middle part of the ship body 1, and when the ship body 1 is in water, the rubber wheel 11 can increase the buoyancy of the ship body 1, and when the ship body 1 is on land, the rubber wheel 11 can be used to support the ship body 1.
[0030] A cutter 2 is arranged on the ship body 1; the cutter 2 is arranged on the ship body 1 by welding, and the cutter 2 can be used to impact an ice layer.
[0031] A multi-axis manipulator 3 is arranged on the ship body 1. A driving part 4 is arranged at a moving end of the multi-axis manipulator 3; the multi-axis manipulator 3 can control the position of the driving part 4 to change and adjust the orientation of the driving part 4.
[0032] A power component 5 is arranged on an output shaft of the driving part 4; the driving part 4 is a rotary driving device, for example, a motor, an electric machine, a diesel engine or the like, and can drive the power component 5 to rotate.
[0033] The power component 5 comprises a driving shaft 51 arranged on the output shaft of the driving part 4 and an auger blade 52 arranged on the driving shaft 51, an outer wall of the auger blade 52 is provided with a sleeve barrel 53, and an end of the sleeve barrel 53 is provided with an inlet 531.
[0034] In use, the ship body 1 is placed in water, the position of the driving part 4 is controlled by the multi-axis manipulator 3, so that the power component 5 at the end of the driving part 4 is placed in water, the auger blade 52 is rotated by controlling the driving shaft 51 to rotate by the driving part 4, water can enter the inside of the sleeve barrel 53 from the inlet 531 due to the arrangement of the sleeve barrel 53 and then is discharged from the other end of the sleeve barrel 53, therefore, the rotation of the auger blade 52 can control the ship body 1 to move when the power component 5 is located underwater, and the cutter 2 on the ship body 1 can realize the breaking operation of the ice layer in the area with relatively weak ice layer, the moving direction of the ship body 1 can be changed by adjusting the position of the power component 5 by the multi-axis manipulator 3 during the movement of the ship body 1.
[0035] When thicker ice layer is encountered, the breaking force of the cutter 2 on the ice layer is limited due to the small overall weight of the ship body 1 and the low speed, at this moment, the power component 5 can be lifted by the multi-axis manipulator 3, the auger blade 52 is aligned with the ice layer, the auger blade 52 is controlled to rotate by the driving part 4, and the ice layer is perforated, so that the strength of the ice layer is reduced, and the difficulty of breaking the ice layer is reduced.
[0036] The power component 5 further comprises a side scraping strip 54 arranged on the outer wall of the auger blade 52. The side scraping strip 54 is arranged in a plurality of and is distributed on the outer wall of the sleeve barrel 53 in equal intervals. Figure 5 Figure 6 When the side scraping strip 54 is inserted into the ice layer and the sleeve barrel 53 is located on the ice layer, the power component 5 can be moved by the multi-axis manipulator 3, and at this time, the side scraping strip 54 can be used to adjust the shape of the drilled hole and cut the ice layer.
[0037] The end of the side scraping strip 54 is provided with a piercing end 541, and the end of the driving shaft 51 is provided with a positioning cone 511, and the arrangement of the piercing end 541 and the positioning cone 511 can improve the positioning effect when the auger blade 52 drills a hole, and improve the stability of the equipment when it first contacts the ice layer.
[0038] The side scraping strip 54 is provided with a crushing knife 55, which can crush the ice debris generated during drilling, thereby improving the ice melting efficiency.
[0039] When facing a thicker ice block for crushing, although the drilling method can reduce the strength of the ice layer and assist the fragmentation of the ice layer, the efficiency of this method is low, and the ship body 1 is prone to displacement when drilling in water. Therefore, in the case of a thicker ice layer, the driving component 4 can be started first, the piercing end 541 and the positioning cone 511 are inserted into the ice layer, and then the ship body 1 is pulled closer to the ice layer by the multi-axis manipulator 3. The shape of the ship body 1 makes the ship body 1 climb onto the ice layer, and the multi-axis manipulator 3 can control the displacement of the ship body 1 on the ice layer. The rubber wheel 11 is supported on the ice layer, and at this time the stability of the ship body 1 is improved. Then the auger blade 52 drills holes around the ship body 1, and after drilling is completed, the multi-axis manipulator 3 swings the power component 5. Under the condition that the center of gravity of the ship body 1 is constantly changing, the cutters 2 on both sides of the ship body 1 intermittently apply pressure to the ice layer on both sides of the ship body 1, thereby crushing the ice layer. This ice crushing method has high efficiency and high stability during the drilling process.
[0040] Referring to Figures 1-6 As an optional embodiment, the cutter 2 includes a vertical part 21 and a horizontal part 22 arranged on the ship body 1. The vertical part 21 can impact the ice layer during the driving of the ship body 1, so that the ice layer is fragmented. When the ship body 1 is on the ice layer, the center of gravity of the ship body 1 is changed by the multi-axis manipulator 3 reciprocating the power component 5, so that the ship body 1 swings reciprocally about the rubber wheel 11 as the fulcrum. The horizontal part 22 can be used to crack the ice layer under the ship body 1.
[0041] The cutter 2 is provided with two groups and is symmetrically arranged at the two ends of the ship body 1.
[0042] The connection between the vertical part 21 and the horizontal part 22 is provided with a pressing part 24. When the ship body 1 is on the ice layer, the pressing part 24 will first contact the ice layer when the ship body 1 swings reciprocally, first from point contact, gradually increasing to line contact of the horizontal part 22, and then changing to surface contact between the ship body 1 and the ice layer after the ice layer is cracked. Large pieces of ice layer can be crushed, thereby improving the ice crushing efficiency.
[0043] The connecting line of the extrusion part 24 on the two groups of cutters 2 penetrates the rubber wheel 11; the inclined part 23 is arranged on the horizontal part 22, referring to Figure 4 , the lowest part of the rubber wheel 11 is lower than the lower edge of the horizontal part 22, that is, when the ship body 1 is on the ice layer, the rubber wheel 11 is in contact with the ice layer, and the ship body 1 will tilt to the left or right under the action of gravity, and the position of the power component 5 can be adjusted by swinging of the multi-axis mechanical arm 3, so as to adjust the center of gravity of the ship body 1 and control the swinging of the ship body 1.
[0044] It should be noted that the control mode of the ship body 1 can be controlled in a wireless remote control mode, and monitoring cameras, ice layer thickness sensors, ultrasonic sensors and other facilities can be added to the ship body 1, so that the operator can obtain the data of the surrounding working environment.
[0045] Referring to Figures 1-6 , as an optional embodiment: the multi-axis mechanical arm 3 includes a fixed frame 31 arranged on the ship body 1, and a first branch arm 32 rotatably arranged on the fixed frame 31, and a second branch arm 33 rotatably arranged on the first branch arm 32; the fixed frame 31 is fixedly arranged on the ship body 1, and the fixed frame 31, the first branch arm 32 and the second branch arm 33 constitute three joint parts of the multi-axis mechanical arm 3.
[0046] The driving part 4 is arranged on the second branch arm 33.
[0047] The fixed frame 31 is provided with a rotating table 311, which is used to control the rotation of the first branch arm 32, and the connecting parts of the first branch arm 32 and the rotating table 311, the first branch arm 32 and the second branch arm 33, and the second branch arm 33 and the driving part 4 are all provided with rotating drive structures to control the relative rotation between the structures.
[0048] The rotating table 311 is an electric rotating disc, which can control the first branch arm 32 to rotate in a first direction, the rotating drive structure arranged at the connecting part of the first branch arm 32 and the rotating table 311 can make the first branch arm 32 rotate in a second direction, the rotating drive structure at the connecting part of the first branch arm 32 and the second branch arm 33 can make the first branch arm 32 and the second branch arm 33 rotate relatively, and the rotating drive structure at the connecting part of the second branch arm 33 and the driving part 4 can make the second branch arm 33 and the driving part 4 rotate relatively, wherein the rotating drive structure can be one of an electric motor with a speed reducer, a hydraulic drive structure, a connecting rod structure and the like, which will not be described here.
[0049] Finally, it should be pointed out that the methods and devices described in detail above are only embodiments, and those skilled in the art can modify these embodiments in different ways without departing from the scope of the present application.
Claims
1. An automatic icebreaker, characterized by: The utility model relates to a rubber wheel type cutting machine, including, The hull (1) is equipped with rubber wheel (11) on it; The cutter (2) is arranged on the hull (1); Multi-axis manipulator (3) is arranged on the hull (1); Driving part (4) is arranged on the movement end of multi-axis manipulator (3); Power component (5) is arranged on the output shaft of driving part (4); The power component (5) includes the driving shaft (51) arranged on the output shaft of driving part (4) and the auger blade (52) arranged on the driving shaft (51), and the outside of the auger blade (52) is equipped with the sleeve barrel (53).
2. An automatic icebreaker according to claim 1, characterized in that: The power component (5) further includes the side scraping strip (54) arranged on the outer wall of the auger blade (52); The side scraping strip (54) is arranged in equal interval circumferentially on the outer wall of the sleeve barrel (53).
3. An automatic icebreaker according to claim 2, characterized in that: The end of the side scraping strip (54) is provided with a stabbing end (541); The end of the driving shaft (51) is provided with a positioning cone (511).
4. An automatic icebreaker according to claim 3, characterized in that: The side scraping strip (54) is provided with a crushing knife (55).
5. An automatic icebreaker according to any one of claims 1-4, characterized in that: The cutter (2) includes the vertical part (21) and horizontal part (22) arranged on the hull (1); The cutter (2) is provided with two groups, and is symmetrically arranged at the two ends of the hull (1).
6. An automatic icebreaker according to claim 5, characterized in that: The connecting part of the vertical part (21) and horizontal part (22) is provided with an extrusion part (24).
7. An automatic icebreaker according to claim 6, characterized in that The connecting line of the extrusion part (24) on the two groups of cutters (2) penetrates the rubber wheel (11).
8. An automatic icebreaker according to claim 7, characterized in that: The horizontal part (22) is provided with an inclined part (23).
9. An automatic icebreaker according to any one of claims 1-4, characterized in that: The multi-axis manipulator (3) includes the fixed frame (31) arranged on the hull (1), and the first branch arm (32) rotatably arranged on the fixed frame (31), and the second branch arm (33) rotatably arranged on the first branch arm (32); The driving part (4) is arranged on the second branch arm (33).
10. An automatic icebreaker according to claim 9, characterized in that: The fixed frame (31) is provided with a rotating table (311), and the rotating table (311) is used for controlling the rotation of the first branch arm (32), and the connecting part of the first branch arm (32) and the rotating table (311), the connecting part of the first branch arm (32) and the second branch arm (33), and the connecting part of the second branch arm (33) and the driving part (4) are all provided with rotating drive structures to control the relative rotation between structures.