CN107839847A - A kind of vertical booster-type air cushion ice breaker of mechanical arm auxiliary - Google Patents
A kind of vertical booster-type air cushion ice breaker of mechanical arm auxiliary Download PDFInfo
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- CN107839847A CN107839847A CN201711042950.0A CN201711042950A CN107839847A CN 107839847 A CN107839847 A CN 107839847A CN 201711042950 A CN201711042950 A CN 201711042950A CN 107839847 A CN107839847 A CN 107839847A
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- ice
- ice breaker
- mechanical arm
- air cushion
- breaker body
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/08—Ice-breakers or other vessels or floating structures for operation in ice-infested waters; Ice-breakers, or other vessels or floating structures having equipment specially adapted therefor
- B63B35/083—Ice-breakers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/08—Ice-breakers or other vessels or floating structures for operation in ice-infested waters; Ice-breakers, or other vessels or floating structures having equipment specially adapted therefor
- B63B35/12—Ice-breakers or other vessels or floating structures for operation in ice-infested waters; Ice-breakers, or other vessels or floating structures having equipment specially adapted therefor having ice-cutters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The invention discloses a kind of vertical booster-type air cushion ice breaker of mechanical arm auxiliary.The vertical booster-type air cushion ice breaker of mechanical arm auxiliary, including ice breaker body, inflatable air cushion is provided with around ice breaker body, driver's cabin is disposed with from front to back at the middle part of ice breaker body, engine, switch board and load-carrying box, a mechanical arm is respectively arranged with the front end both sides of ice breaker body, an ice-breaking mechanism is provided with the front end of mechanical arm, front and back end at left and right sides of ice breaker body is respectively arranged with propeller, some through holes are symmetrically arranged with the middle part of the left and right sides of ice breaker body, lifter is provided with through hole, several pressure sensors are provided with the bottom of ice breaker body.The vertical booster-type air cushion ice breaker of mechanical arm auxiliary is allowed the invention in the form of aircushion vehicle in the up transport for driving into crudely-made articles thing of ice face, and the ice sheet of different-thickness can also be opened ice as needed, applied widely.
Description
Technical field：
The present invention relates to a kind of vertical booster-type air cushion ice breaker of mechanical arm auxiliary, belong to the equipment field that opens ice.
Background technology：
In the winter of cold, China Bohai Sea Partial Sea Area and most of northern river will be ice-bound, influence ship disengaging
Harbour and normal/cruise are, it is necessary to which the equipment that opens ice opens navigation channel；Weather turns warm, when the ice sheet in river course melts stream icepro, to avoid face
The larger ice cube of product produces impact to dykes and dams, and frequently with opening ice, equipment crushes bulk ice sheet.Thus, the equipment that opens ice is opening up ship
Oceangoing ship navigation channel, ensure that stream Ling Anquan etc. is played an important role.In addition, polar regions freeze throughout the year, with polar region activity
Increase, thick ice sheet brings numerous difficulties to polar region activity on sea.Therefore, needing one kind badly can either be fast in ice face
Speed, powered travel transport goods, the equipment that and can enough abolishes thicker ice sheet, provide equipment for polar region operation and support.
Traditional ice breaker relies primarily on the power of ship itself, is crashed ice sheet with fore, and equipment is heavy, operating efficiency
It is low, and energy resource consumption is big.Air cushion ice breaker is a kind of important equipment that opens ice, and has maneuverability, can be run at high speed in ice face
The features such as, receive much concern.But traditional air cushion ice breaker thickness that opens ice is small, inefficient, Application No.
CN201610487788.2 patent of invention discloses a kind of pressure type air cushion ice breaker, by the self-weight press ice face of hull,
Opened ice so as to realize, but for the thicker ice sheet in polar regions, be difficult to reach brokenly only with by the mode of self-weight press ice face
Ice effect, so now needing a kind of air cushion ice breaker badly can either travel in ice face, and can is enough larger to thickness as needed
Ice is abolished.
The content of the invention：
The invention provides a kind of vertical booster-type air cushion ice breaker of mechanical arm auxiliary, ice breaker of the invention can either
Fast running transports goods in ice face, and and can is enough opened ice as needed, and simple in construction, practical.
The present invention is that technical scheme is used by solving above-mentioned technical problem：A kind of vertical booster-type of mechanical arm auxiliary
Air cushion ice breaker, including ice breaker body, inflatable air cushion is provided with around ice breaker body, the middle part of ice breaker body from
Driver's cabin, engine, switch board and load-carrying box are disposed with after forward direction, is respectively arranged with the front end both sides of ice breaker body
One mechanical arm, an ice-breaking mechanism is provided with the front end of mechanical arm, the front and back end at left and right sides of ice breaker body is set respectively
There is propeller, some through holes are arranged with the middle part of the left and right sides of ice breaker body, some lifters are provided with through hole,
The bottom of ice breaker body is provided with several pressure sensors.
The quantity of the propeller is four, is respectively arranged on the corner of ice breaker body.
The quantity of the lifter is six, is divided into two and is mounted in the middle part of the left and right sides of ice breaker body.
A connecting rod is installed by flange in the middle part of the tail end of ice breaker body, has ice discharging leaf in connecting rod end set.
The inflatable air cushion is up-narrow and down-wide structure.
The mechanical arm includes the mechanical arm pedestal being fixedly connected on ice breaker body, and the mechanical arm pedestal passes through machine
Tool revolution of arm motor is connected with one end of revoliving arm, and the revoliving arm other end is hinged with large arm, and the ice-breaking mechanism is located at large arm
Front end, front end hydraulic cylinder is hinged between ice-breaking mechanism rear portion and large arm front portion, is hinged between large arm rear portion and revoliving arm bottom
There is upper arm hydraulic cylinder.
The propeller includes the propeller bearing being arranged on ice breaker body, and the propeller bearing promotes by one
Device rotary motor is connected with a U-bracket, and the kuppe of an annular, the both sides difference of the kuppe are provided with U-bracket
It is rotatablely connected by a kuppe rotating shaft and U-bracket, is provided with what an output shaft was connected with kuppe rotating shaft on U-bracket
Pitching motor, rotating vane is provided with the middle inside of kuppe, the rotary shaft of the rotating vane rotates to be fixed on located at one
On bearing on kuppe, the rotary shaft of the rotating vane is connected with the paddle motor output shaft that one is fixed on bearing.
The ice-breaking mechanism is the hammer that opens ice.
The icebreaking device is rack saw, and the rack saw rotating shaft both ends of the rack saw are installed between two connecting plates, the connection
The rear portion of plate is hinged with large arm, and front end hydraulic cylinder, rack saw rotating shaft and rack saw electricity are hinged between connection postlaminar part and large arm
The output shaft of machine is connected.
The lifter is blower fan.
The present invention uses said structure, it is beneficial that：The present invention is allowed the invention in the form of aircushion vehicle
In the up transport for driving into crudely-made articles thing of ice face, and the ice sheet of different-thickness can also be opened ice as needed, mechanical arm
Setting enable ice breaker to will be unable to be crushed by the ice sheet that pressure crushes, and propeller can be coordinated so that breaking
Ice boat jumps onto ice face and opened ice, and extra pressure can be provided to this ice breaker with setting for the propeller of pitching so that
Ice breaker can crush thicker ice sheet, and the setting of lifter allows the invention to adjust by lifter when travelling in ice face
The whole pressure for ice face so that what the present invention was more prone to sails in the enterprising every trade of ice face.
Brief description of the drawings：
Fig. 1 is the structural representation of the embodiment of the present invention 1；
Fig. 2 is the mplifying structure schematic diagram of mechanical arm in Fig. 1；
Fig. 3 is the mplifying structure schematic diagram of propeller in Fig. 1；
Fig. 4 is the structural representation of the embodiment of the present invention 2；
Fig. 5 is the structural representation of mechanical arm and ice-breaking mechanism in the embodiment of the present invention 3；
Fig. 6 is the schematic diagram when embodiment of the present invention 2 opens ice in the middle part of ice sheet；
Fig. 7 is schematic diagram of the embodiment of the present invention 3 when ice sheet edge opens ice.
In figure, 1, ice breaker body, 2, inflatable air cushion, 3, driver's cabin, 4, engine, 5, switch board, 6, mechanical arm, 7, push away
Enter device, 8, lifter, 9, connecting rod, 10, ice discharging leaf, 11, pressure sensor, 12, load-carrying box, 601, mechanical arm pedestal, 602,
Mechanical arm rotary motor, 603, revoliving arm, 604, large arm, 605, open ice hammer, 606, front end hydraulic cylinder, 607, rack saw motor,
608th, rack saw, 609, upper arm hydraulic cylinder, 610, connecting plate, 701, propeller bearing, 702, propeller rotary motor, 703, U-shaped
Support, 704, kuppe, 705, pitching motor, 706, bearing, 707, paddle motor, 708, rotating vane.
Embodiment：
For the technical characterstic for illustrating this programme can be understood, below by embodiment, and its accompanying drawing is combined, to this hair
It is bright to be described in detail.
Embodiment 1：
As illustrated in fig. 1-3, the vertical booster-type air cushion ice breaker of the present embodiment mechanical arm auxiliary, including ice breaker body
1, inflatable air cushion 2 is provided with around ice breaker body 1, driver's cabin is disposed with from front to back at the middle part of ice breaker body
3rd, engine 4, switch board 5 and load-carrying box 12, a mechanical arm 6 is respectively arranged with the front end both sides of ice breaker body 1, in machine
The front end of tool arm is provided with an ice-breaking mechanism, propeller 7 is respectively arranged with the front and back end of the left and right sides of ice breaker body 1, broken
Some through holes are arranged with the middle part of the left and right sides of ice boat body 1, some lifters 8 are provided with through hole, in ice breaker body 1
Bottom be provided with several pressure sensors 11.
The quantity of the propeller 7 is four, is respectively arranged on the corner of ice breaker body 1.
The quantity of the lifter 8 is six, is divided into two and is mounted in the middle part of the left and right sides of ice breaker body.
The inflatable air cushion 2 is up-narrow and down-wide structure.
The mechanical arm 6 includes the mechanical arm pedestal 601 being fixedly connected on ice breaker body, the mechanical arm pedestal
601 are connected by mechanical arm rotary motor 602 with one end of revoliving arm 603, and the other end of revoliving arm 603 is be hinged with large arm 604, institute
The front end that ice-breaking mechanism is located at large arm is stated, is hinged with front end hydraulic cylinder 606 between ice-breaking mechanism rear portion and the front portion of large arm 604, greatly
Arm hydraulic cylinder 609 is hinged between the rear portion of arm 604 and the bottom of revoliving arm 603.
The propeller 7 includes the propeller bearing 701 being arranged on ice breaker body 1, and the propeller bearing 701 is logical
Cross a propeller rotary motor 702 with a U-bracket 703 to be connected, the kuppe 704 of an annular be provided with U-bracket 703,
The both sides of the kuppe 704 are rotatablely connected by a kuppe rotating shaft with U-bracket 703 respectively, are set on U-bracket 703
The pitching motor 705 that an output shaft is connected with kuppe rotating shaft is equipped with, rotating vane is provided with the middle inside of kuppe 704
708, the rotary shaft of the rotating vane 708 rotates to be fixed on the bearing 706 on kuppe located at one, the rotating vane
708 rotary shaft is connected with the output shaft of paddle motor 707 that one is fixed on bearing 706.
The ice-breaking mechanism is the hammer 605 that opens ice.
The lifter 8 is blower fan.
The present embodiment when in use, when needing in the transport of the enterprising crudely-made articles thing of ice face, passes through mechanical arm rotary motor 602
Mechanical arm 6 is turned to inside ice breaker body 1, to maintain hull balance, loads the goods into load-carrying box 5, engine 3 is lifter
8 and propeller 7 power is provided, lifter 7 works to being discharged into gas below ice breaker so that hull is lifted, and is separated with ice face,
The data that switch board 4 collects according to pressure sensor 11 judge the weight of ice breaker, so as to adjust carrying into working condition
The quantity and rotating speed of device 8 are risen, and then adjusts lifting force, then operating personnel are interior by controlling pitching motor 705 to control in driver's cabin 2
The direction of propeller 7 processed so that ice breaker obtains the propulsive force of horizontal direction, so as to control ice breaker to be moved in ice face, adjusts
Section propeller rotary motor 702 can realize freely the rotating in the horizontal plane of propeller 7, so that the direction of motion to ice breaker
It is controlled, conveying of the present invention in the enterprising crudely-made articles thing of ice face so can be achieved.
Embodiment 2：
As shown in Figure 4, the present embodiment difference from Example 1 is：
By the connecting rod 9 of flange installation one in the middle part of the tail end of ice breaker body, there is ice discharging in the end set of connecting rod 9
Leaf 10.
The present embodiment when in use, when need opened ice at ice sheet edge when, the driving in pitching motor 705 first
Under, the nutation of propeller 7 positioned at the rear portion of ice breaker body 1, the propeller 7 anterior positioned at ice breaker body 1 is faced upward, so that
The anterior tilting of hull, now allows mechanical arm 6 to be supported in ice face so that hull balance, in the thrust that propeller 7 provides
Under, forward quarter of opening ice can jump onto ice sheet.Now, propeller 7 recovers horizontality, and lifter 8 is constantly arranged to ice breaker bottom
Enter air so that ice sheet separates with waters, and ice sheet loses the support in waters, forms cantilever design, is pushed caused by ship deadweight
It can be easily crushed under power effect, this completion is opened ice, then when ice breaker advances, ice discharging leaf 10 can be by broken ice raft
To hull both sides, no ice navigation channel is hewed out for rear ship.
When needing, broken ice sheet is thicker, and when only relying on hull mass and being difficult to crush ice face, ice is jumped onto in ice breaker
Behind face, four propellers 7 are adjusted to nutation state, and extra lower pressure is provided for ice breaker, along with hull mass, so that
Ice face is crushed, is opened ice.
When air cushion ice breaker in the middle part of ice sheet open ice activity, because gas cannot be introduced into below ice sheet, fail by
Ice sheet separates with waters, and under the support in waters, ice breaker is difficult to the thicker ice face of crushing.As shown in Figure 6, now dismantle ice discharging
Leaf 10, ice breaker is under the driving of front end hydraulic cylinder 606 and upper arm hydraulic cylinder 609 so that installed in opening ice for the end of large arm 604
Hammer 605 constantly taps ice face, crushes local ice face, exposes waters, and then can reinstall ice discharging leaf 10 again, and use is above-mentioned
The ice sheet edge mode of opening ice continues to open ice.
Embodiment 3：
As shown in Fig. 5, Fig. 7, the present embodiment and the difference of embodiment 2 are：
The icebreaking device is rack saw 608, and the rack saw rotating shaft both ends of the rack saw are installed between two connecting plates 610, institute
It is be hinged with large arm 604 to state the rear portion of connecting plate 610, front end hydraulic cylinder is hinged between the rear portion of connecting plate 610 and large arm 604
606, rack saw rotating shaft is connected with the output shaft of a rack saw motor 607.
When in use, when running into higher ice dam, when ice breaker is difficult to jump onto ice face, rack saw is in rack saw motor for the present embodiment
Rotate at a high speed under 607 driving, ice dam can be cut using rack saw 608, make it broken, then using the work side of embodiment 2
Formula is opened ice.
Above-mentioned embodiment cannot function as limiting the scope of the invention, for the technology people of the art
For member, any alternate modification or conversion made to embodiment of the present invention are all fallen within protection scope of the present invention.
Part is not described in detail by the present invention, is the known technology of those skilled in the art of the present technique.
Claims (10)
1. a kind of vertical booster-type air cushion ice breaker of mechanical arm auxiliary, including ice breaker body, set around ice breaker body
Inflatable air cushion is equipped with, driver's cabin, engine, switch board and loading are disposed with from front to back at the middle part of ice breaker body
Case, it is characterised in that：A mechanical arm is respectively arranged with the front end both sides of ice breaker body, one is provided with the front end of mechanical arm
Ice-breaking mechanism, the front and back end at left and right sides of ice breaker body are respectively arranged with propeller, in the left and right sides of ice breaker body
Middle part is arranged with some through holes, and some lifters are provided with through hole, and several pressure are provided with the bottom of ice breaker body
Sensor.
A kind of 2. vertical booster-type air cushion ice breaker of mechanical arm auxiliary according to claim 1, it is characterised in that：It is described
The quantity of propeller is four, is respectively arranged on the corner of ice breaker body.
A kind of 3. vertical booster-type air cushion ice breaker of mechanical arm auxiliary according to claim 1, it is characterised in that：It is described
The quantity of lifter is six, is divided into two and is mounted in the middle part of the left and right sides of ice breaker body.
A kind of 4. vertical booster-type air cushion ice breaker of mechanical arm auxiliary according to claim 1, it is characterised in that：Broken
A connecting rod is installed by flange in the middle part of the tail end of ice boat body, has ice discharging leaf in connecting rod end set.
A kind of 5. vertical booster-type air cushion ice breaker of mechanical arm auxiliary according to claim 1, it is characterised in that：It is described
Inflatable air cushion is up-narrow and down-wide structure.
A kind of 6. vertical booster-type air cushion ice breaker of mechanical arm auxiliary according to claim 1, it is characterised in that：It is described
Mechanical arm includes the mechanical arm pedestal being fixedly connected on ice breaker body, and the mechanical arm pedestal passes through mechanical arm rotary motor
It is connected with one end of revoliving arm, the revoliving arm other end is hinged with large arm, and the ice-breaking mechanism is located at the front end of large arm, ice-breaking mechanism
Front end hydraulic cylinder is hinged between rear portion and large arm front portion, arm hydraulic cylinder is hinged between large arm rear portion and revoliving arm bottom.
A kind of 7. vertical booster-type air cushion ice breaker of mechanical arm auxiliary according to claim 1, it is characterised in that：It is described
Propeller include be arranged on ice breaker body on propeller bearing, the propeller bearing by a propeller rotary motor with
One U-bracket is connected, and the kuppe of an annular is provided with U-bracket, the both sides of the kuppe pass through a kuppe respectively
Rotating shaft is rotatablely connected with U-bracket, and the pitching motor that an output shaft is connected with kuppe rotating shaft is provided with U-bracket,
The middle inside of kuppe is provided with rotating vane, and the rotary shaft of the rotating vane rotates the branch being fixed on located at one on kuppe
On seat, the rotary shaft of the rotating vane is connected with the paddle motor output shaft that one is fixed on bearing.
A kind of 8. vertical booster-type air cushion ice breaker of mechanical arm auxiliary according to claim 1, it is characterised in that：It is described
Ice-breaking mechanism is the hammer that opens ice.
A kind of 9. vertical booster-type air cushion ice breaker of mechanical arm auxiliary according to claim 1, it is characterised in that：It is described
Icebreaking device is rack saw, and the rack saw rotating shaft both ends of the rack saw are installed between two connecting plates, the rear portion of the connecting plate with it is big
Arm is hinged, and front end hydraulic cylinder, rack saw rotating shaft and the output shaft phase of a rack saw motor are hinged between connection postlaminar part and large arm
Even.
A kind of 10. vertical booster-type air cushion ice breaker of mechanical arm auxiliary according to claim 1, it is characterised in that：Institute
It is blower fan to state lifter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711042950.0A CN107839847A (en) | 2017-10-30 | 2017-10-30 | A kind of vertical booster-type air cushion ice breaker of mechanical arm auxiliary |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711042950.0A CN107839847A (en) | 2017-10-30 | 2017-10-30 | A kind of vertical booster-type air cushion ice breaker of mechanical arm auxiliary |
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| CN107839847A true CN107839847A (en) | 2018-03-27 |
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| CN201711042950.0A Pending CN107839847A (en) | 2017-10-30 | 2017-10-30 | A kind of vertical booster-type air cushion ice breaker of mechanical arm auxiliary |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108622327A (en) * | 2018-05-14 | 2018-10-09 | 付志伟 | A kind of vertical booster-type air cushion ice breaker of mechanical arm auxiliary |
| CN109229287A (en) * | 2018-09-01 | 2019-01-18 | 哈尔滨工程大学 | A kind of air cushion ship icebreaking device and method |
| CN110027681A (en) * | 2019-05-28 | 2019-07-19 | 江苏科技大学 | A kind of ice breaker of continuity method ice-breaking |
| CN110712722A (en) * | 2019-09-16 | 2020-01-21 | 江苏科技大学 | Cutting type movable artery moving load air cushion icebreaker |
| CN112660314A (en) * | 2021-01-06 | 2021-04-16 | 自然资源部第一海洋研究所 | Marine exploration scientific investigation shipborne ice breaking and emergency rescue device and method |
| CN112776951A (en) * | 2021-02-02 | 2021-05-11 | 衣启超 | Ocean ship ice crushing device |
| CN114537602A (en) * | 2021-12-30 | 2022-05-27 | 浙江国际海运职业技术学院 | Marine safe ice breaking device |
| CN114770593A (en) * | 2022-04-29 | 2022-07-22 | 武汉理工大学 | Hydraulic drive six-degree-of-freedom mechanical arm for polar region ice breaking and ice breaking ship |
| CN115180077A (en) * | 2022-06-23 | 2022-10-14 | 武汉理工大学 | Three-skate blade type icebreaker and icebreaking method thereof |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108622327A (en) * | 2018-05-14 | 2018-10-09 | 付志伟 | A kind of vertical booster-type air cushion ice breaker of mechanical arm auxiliary |
| CN109229287A (en) * | 2018-09-01 | 2019-01-18 | 哈尔滨工程大学 | A kind of air cushion ship icebreaking device and method |
| CN109229287B (en) * | 2018-09-01 | 2020-11-03 | 哈尔滨工程大学 | Novel hovercraft ice breaking device and method |
| CN110027681A (en) * | 2019-05-28 | 2019-07-19 | 江苏科技大学 | A kind of ice breaker of continuity method ice-breaking |
| CN110712722A (en) * | 2019-09-16 | 2020-01-21 | 江苏科技大学 | Cutting type movable artery moving load air cushion icebreaker |
| CN112660314B (en) * | 2021-01-06 | 2022-09-09 | 自然资源部第一海洋研究所 | Marine exploration scientific investigation ship |
| CN112660314A (en) * | 2021-01-06 | 2021-04-16 | 自然资源部第一海洋研究所 | Marine exploration scientific investigation shipborne ice breaking and emergency rescue device and method |
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| CN112776951B (en) * | 2021-02-02 | 2022-08-19 | 衣启超 | Ocean ship ice crushing device |
| CN114537602A (en) * | 2021-12-30 | 2022-05-27 | 浙江国际海运职业技术学院 | Marine safe ice breaking device |
| CN114537602B (en) * | 2021-12-30 | 2023-03-07 | 浙江国际海运职业技术学院 | Marine safe ice breaking device |
| CN114770593A (en) * | 2022-04-29 | 2022-07-22 | 武汉理工大学 | Hydraulic drive six-degree-of-freedom mechanical arm for polar region ice breaking and ice breaking ship |
| CN115180077A (en) * | 2022-06-23 | 2022-10-14 | 武汉理工大学 | Three-skate blade type icebreaker and icebreaking method thereof |
| CN115180077B (en) * | 2022-06-23 | 2023-11-03 | 武汉理工大学 | Three-blade type icebreaker and icebreaking method thereof |
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