Wave type icebreaking robot

Abstract

The utility model discloses a wave type icebreaking robot which comprises a main cabin body, an ultrasonic vibrator deicing device, a sinking and floating device, a control device and a driving device, the tail part of the main cabin body is fixedly connected with the propeller; the main cabin body is of a symmetrical structure, an ultrasonic vibrator deicing device and a control device are arranged in a central cavity of the main cabin body, sinking and floating devices are symmetrically installed on the two sides of the central cavity, and driving devices are installed on the outer sides of the sinking and floating devices. The high-frequency vibration of ultrasonic waves is utilized to cause rapid change of local pressure, and cavitation bubbles are generated. When the cavitation bubbles are broken near an ice layer, powerful waves can be generated, stripping and breaking of the ice layer are facilitated, and compared with a traditional ice breaking device, the ice breaking device has the efficient and rapid ice removing capacity and can remove the large-area ice layer within a short time. No chemical agent is needed, and pollution of the chemical agent to marine organisms and corrosion of the chemical agent to the surface of an object are avoided. And non-contact deicing is adopted, so that mechanical damage to the surface of an object is avoided.

Description

Technical Field

[0001] This utility model relates to an ice-breaking robot, and more particularly to a wave-type ice-breaking robot. Background Technology

[0002] In waterways and ports in extremely cold regions, ice poses a significant obstacle to ship navigation. Traditional icebreakers rely primarily on their own weight and powerful propulsion to crush or push through the ice. For example, common icebreakers have a specially shaped bow, using the forward momentum of the hull to cleave the ice. However, this method consumes a huge amount of energy, and its icebreaking efficiency is affected by thicker ice layers or complex ice conditions. Moreover, traditional icebreakers are large and lack maneuverability when operating in narrow channels or small bodies of water, making it difficult to flexibly handle ice layers of various shapes and thicknesses.

[0003] With the continuous advancement of robotics technology, particularly in mechanical design, automation control, and sensor technology, mechanical design enables robots to possess structures adaptable to various working conditions. For example, it allows for the design of mechanical structures that can stably navigate on ice and apply ice-breaking forces. In practical applications, whether in commercial shipping or polar scientific research, there is a demand for more efficient and energy-saving icebreaking solutions. Utility Model Content

[0004] Purpose of the utility model: The purpose of this utility model is to propose a wave-type ice-breaking robot, which has efficient and rapid ice removal capabilities, can remove large areas of ice in a short time and will not cause environmental pollution.

[0005] Technical solution: This utility model includes a main cabin, an ultrasonic transducer de-icing device, a floating device, a control device, and a drive device; the main cabin adopts a symmetrical structure, the central cavity of the main cabin is equipped with an ultrasonic transducer de-icing device and a control device, the floating devices are symmetrically installed on both sides of the central cavity, and the drive device is installed on the outside of the floating devices; the ultrasonic transducer de-icing device, the floating device, and the drive device are all connected to the control device.

[0006] The ultrasonic transducer de-icing device includes an ultrasonic generator, an ultrasonic transducer, and a transducer. The transducer is installed on the top of the ultrasonic generator, and the ultrasonic transducer is installed on one side of the ultrasonic generator. The transducer is electrically connected to the ultrasonic generator and the ultrasonic transducer respectively, realizing the effective conversion of electrical signals and mechanical vibration.

[0007] Both the ultrasonic generator and the ultrasonic transducer are connected to the control device.

[0008] The control device includes a support plate, a solar panel, a solar converter, an electric plate, and a bidirectional ESC. The solar converter, electric plate, bidirectional ESC, and ultrasonic transducer de-icing device are installed on the top of the support plate. The solar panel is electrically connected to the solar converter. One end of the solar converter is connected to the electric plate, and the other end is connected to the bidirectional ESC.

[0009] The bidirectional ESC is electrically connected to the thruster, thereby controlling the thruster to discharge water to generate thrust, propelling the robot forward and backward.

[0010] The buoyancy device includes a ballast tank, a stepper motor, a microcontroller, and a voltage regulator module. The microcontroller and voltage regulator module are mounted on the surface of the support plate. The ballast tank is threadedly connected to the stepper motor. The microcontroller and voltage regulator module are both electrically connected to the stepper motor. The microcontroller is used to control the rotation direction and speed of the stepper motor, and the stepper motor is used to control the ballast tank to absorb and drain water.

[0011] The drive unit includes multiple bionic bodies symmetrically distributed about the main body. Each bionic body includes a servo motor, a rotary bearing, a connecting ring, a rotating ring, and a bionic duck web. The rotary bearing connects the servo motor and the rotating ring, and the bionic duck web is installed on the rotating ring.

[0012] The tail section of the main cabin is fixedly connected to the thruster.

[0013] Beneficial effects: This invention utilizes the high-frequency vibration of ultrasound to cause a rapid change in local pressure, generating cavitation bubbles. When these cavitation bubbles burst near the ice layer, they produce powerful waves that facilitate the peeling and breaking of the ice. Compared to traditional ice-breaking devices, this invention has a highly efficient and rapid de-icing capability, capable of removing large areas of ice in a short time. It eliminates the need for chemical agents, avoiding pollution of marine life and corrosion of object surfaces. It is a non-contact de-icing method that does not cause mechanical damage to object surfaces. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0015] Figure 2 This is a schematic diagram of the internal structure of the main body of this utility model;

[0016] Figure 3 This is a schematic diagram of the connection of the buoyancy device of this utility model;

[0017] Figure 4 This is a schematic diagram of the sinking and floating device of this utility model;

[0018] Figure 5 This is a schematic diagram of the drive device structure of this utility model. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] like Figure 1 As shown, the wave-type ice-breaking robot of this utility model includes a main cabin 1, a thruster 2, an ultrasonic transducer de-icing device 3, a buoyancy device 4, a control device 5, and a drive device 6. The thruster 2, the ultrasonic transducer de-icing device 3, the buoyancy device 4, and the drive device 6 are all connected to the control device 5. The tail of the main cabin 1 is fixedly connected to the thruster 2. The main cabin 1 adopts a symmetrical structure. The central cavity of the main cabin 1 is equipped with the ultrasonic transducer de-icing device 3 and the control device 5. The buoyancy devices 4 are symmetrically installed on both sides of the central cavity to increase the buoyancy depth while ensuring the stability of the robot. The drive device 6 is installed on the outside of the buoyancy device 4 and is located outside the main cabin.

[0021] like Figure 2 As shown, the ultrasonic transducer de-icing device 3 includes an ultrasonic generator 31, an ultrasonic transducer 32, and a transducer 33. The transducer 33 is mounted on the top of the ultrasonic generator 31, and the ultrasonic transducer 32 is mounted on one side of the ultrasonic generator 31. The transducer 33 is electrically connected to both the ultrasonic generator 31 and the ultrasonic transducer 32. The ultrasonic generator 31 provides energy to the ultrasonic transducer 32 by generating a high-frequency electrical signal; its output frequency and power can be adjusted according to the de-icing requirements. The transducer 33, by connecting the ultrasonic generator 31 and the ultrasonic transducer 32, effectively converts electrical signals into mechanical vibrations. The ultrasonic transducer 32 generates high-frequency vibrations by converting electrical energy into mechanical energy. The high-frequency vibrations of the ultrasonic waves cause a rapid change in local pressure, generating cavitation bubbles. When these cavitation bubbles burst near the ice layer, they generate powerful waves, which help to peel and break up the ice layer. Both the ultrasonic generator 31 and the ultrasonic transducer 32 are connected to the control device 5.

[0022] like Figure 2 As shown, the control device 5 includes a support plate 51, a solar panel 52, a solar converter 53, an electric plate 54, and a bidirectional ESC 55. The solar converter 53, the electric plate 54, the bidirectional ESC 55, and the ultrasonic transducer de-icing device 3 are installed on the top of the support plate 51. The solar panel 52 is electrically connected to the solar converter 53 to convert solar energy into electrical energy. One end of the solar converter 53 is connected to the electric plate 54 through a wiring harness to supply power, and the other end is connected to the bidirectional ESC 55 through a wiring harness. The bidirectional ESC 55 is connected to the thruster 2 through a wiring harness, thereby controlling the thruster 2 to drain water and generate thrust, thus propelling the robot forward and backward.

[0023] like Figure 3 and Figure 4As shown, the buoyancy device 4 includes a ballast tank 41, a stepper motor 42, a microcontroller 43, and a voltage regulator module 44. The microcontroller 43 and the voltage regulator module 44 are mounted on the surface of the support plate 51. The front side of the stepper motor 42 is equipped with a threaded wire, and the front side of the inside of the ballast tank 41 is also equipped with a threaded wire with a thread size of M1.2*0.25. The stepper motor 42 and the ballast tank 41 are connected to each other by a threaded rotation. The microcontroller 43 and the voltage regulator module 44 are both electrically connected to the stepper motor 42. The microcontroller 43 is used to control the rotation direction and speed of the stepper motor 42, and the stepper motor 42 is used to control the water intake and drainage of the ballast tank 41.

[0024] like Figure 5 As shown, the drive unit 6 includes multiple bionic bodies symmetrically distributed about the main body 1. Each bionic body includes a servo motor 611, a rotary bearing 612, a rotating ring 613, and a bionic duck webbed foot 614. The servo motor 611 is fixedly installed on the inner side of the main body 1. The rotary bearing 612 connects the servo motor 611 and the rotating ring 613. The bionic duck webbed foot 614 is mounted on the rotating ring 613. The servo motor 611 drives the rotary bearing 612 to rotate, which in turn drives the rotating ring 613 to rotate. Finally, the bionic duck webbed foot 614 rotates together with the rotating ring 613. The control unit 5 controls the rotation of each group of bionic bodies, allowing them to assume different postures and achieve multi-angle free movement.

[0025] This invention utilizes the high-frequency vibration of ultrasound to cause rapid changes in local pressure, generating cavitation bubbles. When these cavitation bubbles burst near the ice layer, they produce powerful waves that facilitate the peeling and breaking of the ice. Compared to traditional ice-breaking devices, this invention offers highly efficient and rapid ice removal capabilities, capable of removing large areas of ice in a short time. It eliminates the need for chemical agents, avoiding pollution of marine life and corrosion of object surfaces. Furthermore, it employs non-contact de-icing, preventing mechanical damage to object surfaces.

Claims

1. A wave-type ice-breaking robot, characterized in that, It includes a main cabin, an ultrasonic transducer de-icing device, a floating device, a control device, and a drive device; the main cabin adopts a symmetrical structure, and the central cavity of the main cabin is equipped with an ultrasonic transducer de-icing device and a control device. Floating devices are symmetrically installed on both sides of the central cavity, and drive devices are installed on the outside of the floating devices; the ultrasonic transducer de-icing device, the floating device, and the drive device are all connected to the control device.

2. The wave-type ice-breaking robot according to claim 1, characterized in that, The ultrasonic transducer de-icing device includes an ultrasonic generator, an ultrasonic transducer, and a transducer. The transducer is installed on the top of the ultrasonic generator, and the ultrasonic transducer is installed on one side of the ultrasonic generator. The transducer is electrically connected to the ultrasonic generator and the ultrasonic transducer respectively.

3. The wave-type ice-breaking robot according to claim 2, characterized in that, Both the ultrasonic generator and the ultrasonic transducer are connected to the control device.

4. The wave-type ice-breaking robot according to claim 1, characterized in that, The control device includes a support plate, a solar panel, a solar converter, an electric plate, and a bidirectional ESC. The solar converter, electric plate, bidirectional ESC, and ultrasonic transducer de-icing device are installed on the top of the support plate. The solar panel is electrically connected to the solar converter. One end of the solar converter is connected to the electric plate, and the other end is connected to the bidirectional ESC.

5. A wave-type ice-breaking robot according to claim 4, characterized in that, The bidirectional ESC is electrically connected to the thruster.

6. A wave-type ice-breaking robot according to claim 4, characterized in that, The buoyancy device includes a ballast tank, a stepper motor, a microcontroller, and a voltage regulator module. The microcontroller and voltage regulator module are mounted on the surface of the support plate. The ballast tank is threadedly connected to the stepper motor, and both the microcontroller and the voltage regulator module are electrically connected to the stepper motor.

7. The wave-type ice-breaking robot according to claim 1, characterized in that, The drive unit includes multiple bionic bodies symmetrically distributed about the main body. Each bionic body includes a servo motor, a rotary bearing, a rotary ring, and a bionic duck web. The rotary bearing connects the servo motor and the rotary ring, and the bionic duck web is installed on the rotary ring.

8. The wave-type ice-breaking robot according to claim 1, characterized in that, The tail of the main cabin is fixedly connected to the thruster.

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