CN108466678A - A kind of navigation icebreaking device and its application method - Google Patents
A kind of navigation icebreaking device and its application method Download PDFInfo
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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
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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
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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
- B63B35/12—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
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Abstract
本发明公开了一种航海用破冰装置及其使用方法,装置包括:支撑板,所述支撑板焊接固定在破冰船体的前端,所述支撑板上通过螺栓固定有液压缸,所述液压缸的伸缩端通过螺栓安装有第一安装板,所述第一安装板上焊接固定有顶杆,所述顶杆上活动套接于第二安装板;破冰刀盘,所述破冰刀盘的边缘固定有刀头,所述破冰刀盘销接固定在电机的输出轴上,所述电机通过电机支架安装在第二安装板底部。本发明通过双轴电机带动破冰刀盘,在破冰船体前进时对冰面进行切割,破坏冰面结构,再通过加强板对切割后的冰面进行撞击,有利于对整块冰面进行破碎,通过弹簧使得第二安装板可以上下运动,具有一定的缓冲性,防止破冰刀盘卡住,有利于提高破冰效率。
The invention discloses a navigation ice-breaking device and a method for using the same. The device comprises: a support plate, the support plate is welded and fixed on the front end of the ice-breaking hull, a hydraulic cylinder is fixed on the support plate through bolts, and the hydraulic cylinder The telescopic end is equipped with a first mounting plate through bolts, and the first mounting plate is welded and fixed with a ejector rod, and the ejector rod is movably socketed on the second mounting plate; the ice-breaking cutter head, the edge of the ice-breaking cutter head is fixed There is a cutter head, and the ice-breaking cutter head is pinned and fixed on the output shaft of the motor, and the motor is installed on the bottom of the second mounting plate through a motor bracket. The invention drives the ice-breaking cutter disc through a biaxial motor, cuts the ice surface when the ice-breaking hull advances, destroys the structure of the ice surface, and then impacts the cut ice surface through a reinforcing plate, which is beneficial to breaking the entire ice surface. The spring enables the second mounting plate to move up and down, which has a certain degree of cushioning, prevents the ice-breaking cutter head from being stuck, and is beneficial to improving ice-breaking efficiency.
Description
技术领域technical field
本发明属于航海装置技术领域,具体涉及一种航海用破冰装置,同时,本发明还公开了一种航海用破冰装置的使用方法。The invention belongs to the technical field of navigation devices, and in particular relates to a navigation ice-breaking device. At the same time, the invention also discloses a method for using the navigation ice-breaking device.
背景技术Background technique
地球的表面70%是蓝色的海洋,地球上的生物约有80%在海洋之中。海洋为人类的生存和发展提供了丰富的宝藏和无穷的资源。航海是人类认识、利用、开发海洋的基础和前提。不论是从事海洋捕捞和养殖,还是在海上从事旅客与货物运输,在海洋中开展国防和军事活动,对海洋进行科学考察,开发海底石油和矿藏等资源,在海上进行体育运动和休闲活动,从古到今,人类在海洋中的一切活动都离不开航海,即人驾驶船在海上航行、停泊和作业。在高纬度海域或者遭遇强降温、风暴潮等天气造成海绵结冰时,需要使用破冰船对冰面进行破碎,破冰船是用于破碎水面冰层,开辟航道,保障舰船进出冰封港口、锚地,或引导舰船在冰区航行的勤务船。分为江河、湖泊、港湾或海洋破冰船。70% of the earth's surface is blue ocean, and about 80% of the creatures on the earth are in the ocean. The ocean provides rich treasures and endless resources for the survival and development of human beings. Navigation is the basis and premise for human beings to understand, utilize and develop the ocean. Whether engaged in marine fishing and breeding, or engaged in passenger and cargo transportation at sea, carrying out national defense and military activities in the ocean, conducting scientific investigations on the ocean, developing resources such as seabed oil and mineral deposits, and performing sports and leisure activities at sea, from From ancient times to the present, all human activities in the ocean are inseparable from navigation, that is, people drive ships to sail, berth and operate at sea. In high-latitude seas or when the sponge freezes due to severe cooling, storm surges and other weather, it is necessary to use icebreakers to break the ice surface. Or a service ship that guides a ship navigating through ice. Divided into rivers, lakes, harbors or ocean icebreakers.
现有的破冰船设计时采用船身短而宽,长宽比值小,底部首尾上翘,首柱尖削前倾的方案,总体强度高,首尾和水线区用厚钢板和密骨架加强。推进系统多采用双轴和双轴以上多螺旋桨装置,以柴油机为原动力的动力推进。螺旋桨和舵有防护和加强。破冰时,首部压挤冰层在行进中连续破冰或反复突进破冰。现有的破冰船采用撞击方式进行破冰作业,需要使得破冰船具有足够强大的动力,设计难度较高。因此,可以通过对冰面受力结构进行破坏,再利用破冰船进行破冰作业,可以降低破冰的难度,有利于提高破冰的效率。Existing icebreakers are designed with a short and wide hull, a small length-to-width ratio, an upturned bottom and a pointed bow. The overall strength is high, and the fore and aft and waterline areas are reinforced with thick steel plates and dense frames. The propulsion system mostly adopts two-shaft or more than two-shaft multi-propeller devices, and the diesel engine is used as the driving force for power propulsion. The propeller and rudder are guarded and reinforced. When breaking the ice, the first crushed ice layer breaks the ice continuously or repeatedly breaks through the ice while advancing. Existing icebreakers use the impact method to break ice, which needs to have sufficient power, and the design is difficult. Therefore, by destroying the force-bearing structure of the ice surface, and then using the icebreaker to carry out icebreaking operations, the difficulty of icebreaking can be reduced, and the efficiency of icebreaking can be improved.
发明内容Contents of the invention
本发明的目的在于提供一种航海用破冰装置及其使用方法,以解决上述背景技术中提出的问题。The object of the present invention is to provide a marine ice breaking device and its usage method, so as to solve the problems raised in the above-mentioned background technology.
为实现上述目的,本发明提供如下技术方案:一种航海用破冰装置,包括:In order to achieve the above object, the present invention provides the following technical solutions: an ice breaking device for navigation, comprising:
支撑板,所述支撑板焊接固定在破冰船体的前端,所述支撑板上通过螺栓固定有液压缸,所述液压缸的伸缩端通过螺栓安装有第一安装板,所述第一安装板上焊接固定有顶杆,所述顶杆上活动套接于第二安装板;A support plate, the support plate is welded and fixed on the front end of the icebreaker hull, a hydraulic cylinder is fixed on the support plate through bolts, and a first mounting plate is installed on the telescopic end of the hydraulic cylinder through bolts, and the first mounting plate A push rod is welded and fixed, and the push rod is movably socketed on the second mounting plate;
破冰刀盘,所述破冰刀盘的边缘固定有刀头,所述破冰刀盘销接固定在电机的输出轴上,所述电机通过电机支架安装在第二安装板底部。The ice-breaking cutter head is fixed with a cutter head on the edge of the ice-breaking cutter head, and the ice-breaking cutter head is pinned and fixed on the output shaft of the motor, and the motor is installed on the bottom of the second mounting plate through a motor bracket.
优选的,所述第一安装板的上表面焊接固定有导向杆,所述导向杆活动贯穿于支撑板。Preferably, a guide rod is welded and fixed on the upper surface of the first mounting plate, and the guide rod movably penetrates through the support plate.
优选的,所述顶杆设置有四个,并分布在第二安装板的四角处,所述顶杆上套接有弹簧,且弹簧位于第一安装板和第二安装板之间。Preferably, four push rods are provided and distributed at four corners of the second mounting plate, springs are sleeved on the push rods, and the springs are located between the first mounting plate and the second mounting plate.
优选的,所述电机和控制液压缸的液压泵通过导线电性连接于破冰船体上的控制室,所述电机为双轴电机。Preferably, the motor and the hydraulic pump controlling the hydraulic cylinder are electrically connected to the control room on the icebreaker hull through wires, and the motor is a biaxial motor.
优选的,所述破冰刀盘的外周上等间隔设置有6个安装槽,所述安装槽内通过螺栓固定有刀头。Preferably, 6 installation grooves are arranged at equal intervals on the outer circumference of the ice-breaking cutter head, and the cutter heads are fixed in the installation grooves by bolts.
优选的,所述破冰船体的前部焊接固定有加强板,所述电机与加强板对齐,且加强板与冰面相接处呈锥面。Preferably, the front part of the icebreaker hull is welded and fixed with a reinforcement plate, the motor is aligned with the reinforcement plate, and the junction between the reinforcement plate and the ice surface forms a conical surface.
同时,本发明还公开了一种航海用破冰装置的使用方法,具体包括如下操作步骤At the same time, the invention also discloses a method for using the ice breaking device for navigation, which specifically includes the following steps
S1:调整切割深度,根据海面浮冰的厚度,通过控制室启动液压泵驱动第一安装板带动电机向下移动,同时打开电机,对电机进行预热,直至电机上的破冰刀盘进入浮冰指定深度时,继续维持预热5-10分钟;S1: Adjust the cutting depth. According to the thickness of the sea ice floe, start the hydraulic pump through the control room to drive the first mounting plate to drive the motor to move downward. At the same time, turn on the motor to preheat the motor until the ice-breaking cutter head on the motor enters the floe ice. When the depth is specified, continue to preheat for 5-10 minutes;
S2:调整转速、航速,将破冰船体的航速调整至2-3节,同时,将电机的转速调整至800-1000r/min,随着破冰船体的连续前进,进行破冰作业。S2: Adjust the rotation speed and speed, and adjust the speed of the ice-breaking hull to 2-3 knots. At the same time, adjust the speed of the motor to 800-1000r/min, and carry out ice-breaking operations as the ice-breaking hull continues to advance.
优选的,步骤S1中对浮冰的切割深度为浮冰厚度的1/5-1/4。Preferably, the cutting depth of the floating ice in step S1 is 1/5-1/4 of the thickness of the floating ice.
优选的,步骤S2中破冰作业的还可以采用如下方法:当破冰船前进受阻时,将破冰船向后运动一段距离,将破冰船体偏离原方向15°后,再次向前航行,直至完成破冰。Preferably, the following method can also be used for the icebreaking operation in step S2: when the icebreaker is blocked, move the icebreaker backward for a certain distance, deviate the icebreaker hull by 15° from the original direction, and sail forward again until the icebreaking is completed.
本发明的技术效果和优点:Technical effect and advantage of the present invention:
本发明通过双轴电机带动破冰刀盘,可以在破冰船体前进时对冰面进行切割,使得冰面形成缺槽,破坏冰面的结构,再通过加强板对切割后的冰面进行撞击,有利于对整块冰面进行破碎,降低破冰船的动力要求,设计制造难度低,通过弹簧,使得第二安装板可以上下运动,具有一定的缓冲性,防止破冰刀盘卡住,有利于提高破冰效率。The invention drives the ice-breaking cutter head through a biaxial motor, and can cut the ice surface when the ice-breaking hull advances, so that the ice surface forms a groove, destroys the structure of the ice surface, and then impacts the cut ice surface through a reinforcing plate, effectively It is beneficial to crush the entire ice surface, reduces the power requirements of the icebreaker, and is less difficult to design and manufacture. The second mounting plate can move up and down through the spring, which has a certain cushioning property, prevents the icebreaker disc from being stuck, and is conducive to improving icebreaking efficiency. .
附图说明Description of drawings
图1为本发明一种航海用破冰装置的侧视结构示意图;Fig. 1 is a side-view structural schematic diagram of a navigation ice-breaking device of the present invention;
图2为本发明一种航海用破冰装置的电机安装结构示意图;Fig. 2 is a schematic diagram of the motor installation structure of a marine icebreaking device of the present invention;
图3为本发明一种航海用破冰装置的破冰刀盘结构示意图。Fig. 3 is a structural schematic diagram of an ice-breaking cutterhead of a marine ice-breaking device according to the present invention.
图中:1液压缸、2导向杆、3支撑板、4破冰刀盘、401安装槽、402刀头、5加强板、6破冰船体、7顶杆、8第一安装板、9电机、10弹簧、11第二安装板。In the figure: 1 hydraulic cylinder, 2 guide rod, 3 support plate, 4 ice-breaking cutter head, 401 installation slot, 402 cutter head, 5 reinforcement plate, 6 ice-breaking hull, 7 ejector rod, 8 first installation plate, 9 motor, 10 Spring, 11 second mounting plates.
具体实施方式Detailed ways
下面将结合本发明实施例,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
如图1-3所示,一种航海用破冰装置,包括:As shown in Figure 1-3, a marine ice breaking device includes:
支撑板3,所述支撑板3焊接固定在破冰船体6的前端,所述支撑板3上通过螺栓固定有液压缸1,所述液压缸1的伸缩端通过螺栓安装有第一安装板8,所述第一安装板8上焊接固定有顶杆7,所述顶杆7上活动套接于第二安装板11;The support plate 3 is welded and fixed on the front end of the icebreaker hull 6, the hydraulic cylinder 1 is fixed on the support plate 3 by bolts, and the telescopic end of the hydraulic cylinder 1 is equipped with a first mounting plate 8 by bolts, A push rod 7 is welded and fixed on the first mounting plate 8, and the push rod 7 is movably socketed on the second mounting plate 11;
破冰刀盘4,所述破冰刀盘4的边缘固定有刀头402,所述破冰刀盘4销接固定在电机9的输出轴上,所述电机9通过电机支架安装在第二安装板11底部。The ice-breaking cutter head 4, the edge of the ice-breaking cutter head 4 is fixed with a cutter head 402, the ice-breaking cutter head 4 is pinned and fixed on the output shaft of the motor 9, and the motor 9 is mounted on the second mounting plate 11 through a motor bracket bottom.
所述第一安装板8的上表面焊接固定有导向杆2,所述导向杆2活动贯穿于支撑板3,通过导向杆2,可以对第一安装板8进行稳定,使得第一安装板8只能做上下运动,防止第一安装板8发生旋转,提高电机9的稳定性。The upper surface of the first mounting plate 8 is welded and fixed with a guide rod 2, and the guide rod 2 moves through the support plate 3. Through the guide rod 2, the first mounting plate 8 can be stabilized, so that the first mounting plate 8 It can only move up and down to prevent the rotation of the first mounting plate 8 and improve the stability of the motor 9 .
所述顶杆7设置有四个,并分布在第二安装板11的四角处,电机9位于第二安装板11的中心处,可以避开顶杆7,所述顶杆7上套接有弹簧10,且弹簧10位于第一安装板8和第二安装板11之间,通过弹簧10,使得第二安装板11可以上下运动,具有一定的缓冲性,防止破冰刀盘4卡住。There are four push rods 7, and they are distributed at the four corners of the second mounting plate 11. The motor 9 is located at the center of the second mounting plate 11, which can avoid the push rods 7. The push rods 7 are sleeved with The spring 10, and the spring 10 is located between the first mounting plate 8 and the second mounting plate 11, through the spring 10, the second mounting plate 11 can move up and down, has a certain cushioning property, and prevents the ice-breaking blade disc 4 from being stuck.
所述电机9和控制液压缸1的液压泵通过导线电性连接于破冰船体6上的控制室,所述电机9为双轴电机,在双轴电机的驱动下,可以利用破冰刀盘4在冰面上形成两条切割槽,破坏冰面的受力结构,有利于对整块冰面进行破碎,提高破冰效率。The motor 9 and the hydraulic pump that controls the hydraulic cylinder 1 are electrically connected to the control room on the icebreaker hull 6 through wires. The motor 9 is a biaxial motor. Driven by the biaxial motor, the icebreaking cutter head 4 can be used to Two cutting grooves are formed on the ice surface to destroy the force structure of the ice surface, which is beneficial to breaking the entire ice surface and improving the ice-breaking efficiency.
所述破冰刀盘4的外周上等间隔设置有6个安装槽401,所述安装槽401内通过螺栓固定有刀头402,利用破冰刀盘4高速转动带动刀头402,可以对冰面进行切割,而当某一刀头402磨损严重时,可以通过螺栓进行更换,使用维护方便。The outer circumference of the ice-breaking cutter head 4 is provided with six installation grooves 401 at equal intervals, and the cutter heads 402 are fixed by bolts in the installation grooves 401, and the cutter head 402 is driven by the high-speed rotation of the ice-breaking cutter head 4, so that the ice surface can be cleaned. cutting, and when a certain cutter head 402 is severely worn, it can be replaced by bolts, which is convenient for use and maintenance.
所述破冰船体6的前部焊接固定有加强板5,所述电机9与加强板5对齐,且加强板5与冰面相接处呈锥面,使得加强板5位于两条切割槽之间,在破冰船体6前进时,可以通过加强板5对冰面进行压紧,从而使得冰面裂开。The front part of the icebreaker hull 6 is welded and fixed with a reinforcing plate 5, the motor 9 is aligned with the reinforcing plate 5, and the junction of the reinforcing plate 5 and the ice surface is a conical surface, so that the reinforcing plate 5 is located between two cutting grooves , when the icebreaker hull 6 advances, the ice surface can be compressed by the reinforcing plate 5, so that the ice surface is cracked.
同时,本发明还公开了一种航海用破冰装置的使用方法,具体包括如下操作步骤At the same time, the invention also discloses a method for using the ice breaking device for navigation, which specifically includes the following steps
S1:调整切割深度,根据海面浮冰的厚度,通过控制室启动液压泵驱动第一安装板带动电机向下移动,同时打开电机,对电机进行预热,直至电机上的破冰刀盘进入浮冰的深度为浮冰厚度的1/5,继续维持预热5-10分钟;S1: Adjust the cutting depth. According to the thickness of the sea ice floe, start the hydraulic pump through the control room to drive the first mounting plate to drive the motor to move downward. At the same time, turn on the motor to preheat the motor until the ice-breaking cutter head on the motor enters the floe ice. The depth is 1/5 of the thickness of the ice floe, and continue to preheat for 5-10 minutes;
S2:调整转速、航速,将破冰船体的航速调整至2节,同时,将电机的转速调整至800r/min,随着破冰船体的连续前进,进行破冰作业,当破冰船前进受阻时,将破冰船向后运动一段距离,将破冰船体向左或向右偏离原方向15°后,再次向前航行,直至完成破冰。S2: Adjust the rotation speed and speed, and adjust the speed of the icebreaker to 2 knots. At the same time, adjust the speed of the motor to 800r/min. With the continuous advancement of the icebreaker, carry out icebreaking operations. When the icebreaker is blocked, turn the icebreaker to After moving for a certain distance, the icebreaking hull will deviate from the original direction by 15° to the left or right, and then sail forward again until the icebreaking is completed.
本发明通过双轴电机带动破冰刀盘4,可以在破冰船体6前进时对冰面进行切割,使得冰面形成缺槽,破坏冰面的结构,再通过加强板5对切割后的冰面进行撞击,有利于对整块冰面进行破碎,通过弹簧10,使得第二安装板11可以上下运动,具有一定的缓冲性,防止破冰刀盘4卡住,有利于提高破冰效率。The present invention drives the ice-breaking cutter disc 4 through a biaxial motor, and can cut the ice surface when the ice-breaking hull 6 advances, so that the ice surface forms a groove, destroying the structure of the ice surface, and then through the reinforcing plate 5 to cut the ice surface. The impact is conducive to breaking the whole ice surface, and the second mounting plate 11 can move up and down through the spring 10, which has a certain cushioning property, prevents the ice-breaking cutter head 4 from being stuck, and is conducive to improving the ice-breaking efficiency.
最后应说明的是:以上所述仅为本发明的优选实施例而已,并不用于限制本发明,尽管参照前述实施例对本发明进行了详细的说明,对于本领域的技术人员来说,其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换,凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。Finally, it should be noted that: the above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it still The technical solutions recorded in the foregoing embodiments may be modified, or some of the technical features may be replaced equivalently, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the within the protection scope of the present invention.
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Cited By (6)
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| CN111152894A (en) * | 2020-01-10 | 2020-05-15 | 宁波大学 | Shield type icebreaker |
| CN112243968A (en) * | 2020-11-11 | 2021-01-22 | 倪略凯 | Ice chiseling auxiliary device for fishing on ice surface of freezing lake in alpine region |
| CN112249248A (en) * | 2020-10-30 | 2021-01-22 | 广船国际有限公司 | Icebreaking ship |
| WO2022122049A1 (en) * | 2020-12-11 | 2022-06-16 | 广东海洋大学 | Ship ice breaking device and ship comprising same |
| CN115140254A (en) * | 2021-01-06 | 2022-10-04 | 自然资源部第一海洋研究所 | Marine exploration vessel, assembly and method |
| CN116278549A (en) * | 2023-01-13 | 2023-06-23 | 青岛科技大学 | A small ice-breaking amphibious icebreaker ice-breaking and ice-climbing system |
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2018
- 2018-03-12 CN CN201810198883.XA patent/CN108466678A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152894A (en) * | 2020-01-10 | 2020-05-15 | 宁波大学 | Shield type icebreaker |
| CN112249248A (en) * | 2020-10-30 | 2021-01-22 | 广船国际有限公司 | Icebreaking ship |
| CN112243968A (en) * | 2020-11-11 | 2021-01-22 | 倪略凯 | Ice chiseling auxiliary device for fishing on ice surface of freezing lake in alpine region |
| WO2022122049A1 (en) * | 2020-12-11 | 2022-06-16 | 广东海洋大学 | Ship ice breaking device and ship comprising same |
| CN115140254A (en) * | 2021-01-06 | 2022-10-04 | 自然资源部第一海洋研究所 | Marine exploration vessel, assembly and method |
| CN115140254B (en) * | 2021-01-06 | 2023-10-13 | 自然资源部第一海洋研究所 | Ocean exploration vessel, components and methods |
| CN116985963A (en) * | 2021-01-06 | 2023-11-03 | 自然资源部第一海洋研究所 | Ocean exploration ship device for polar region scientific investigation and work flow for polar region investigation |
| CN116278549A (en) * | 2023-01-13 | 2023-06-23 | 青岛科技大学 | A small ice-breaking amphibious icebreaker ice-breaking and ice-climbing system |
| CN116278549B (en) * | 2023-01-13 | 2024-01-16 | 青岛科技大学 | Small-sized water ice amphibious icebreaker ice breaking and climbing system |
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