CN111749699A - Ore collecting device for controlling free hovering motion of ore collecting machine - Google Patents
Ore collecting device for controlling free hovering motion of ore collecting machine Download PDFInfo
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- CN111749699A CN111749699A CN202010376280.1A CN202010376280A CN111749699A CN 111749699 A CN111749699 A CN 111749699A CN 202010376280 A CN202010376280 A CN 202010376280A CN 111749699 A CN111749699 A CN 111749699A
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- 229910052500 inorganic mineral Inorganic materials 0.000 claims abstract description 66
- 239000011707 mineral Substances 0.000 claims abstract description 66
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 239000002245 particle Substances 0.000 claims abstract description 26
- 239000000758 substrate Substances 0.000 claims abstract description 22
- 238000012216 screening Methods 0.000 claims abstract description 4
- 238000001914 filtration Methods 0.000 claims description 14
- 238000005507 spraying Methods 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 3
- 230000006378 damage Effects 0.000 abstract description 5
- 238000005265 energy consumption Methods 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 abstract description 5
- 238000013461 design Methods 0.000 abstract description 4
- 238000005065 mining Methods 0.000 description 6
- 239000002184 metal Substances 0.000 description 4
- 229910052751 metal Inorganic materials 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000011148 porous material Substances 0.000 description 4
- 239000013049 sediment Substances 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000008187 granular material Substances 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000002344 surface layer Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 201000008827 tuberculosis Diseases 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C50/00—Obtaining minerals from underwater, not otherwise provided for
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- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Drilling And Exploitation, And Mining Machines And Methods (AREA)
Abstract
The invention discloses an ore collecting device for controlling the free hovering motion of an ore collecting machine, which comprises a hydraulic conveying mechanism, a conveying channel and a capturing disturbance mechanism, wherein the hydraulic conveying mechanism drives water in the conveying channel to flow from a mineral input port to a mineral output port, the capturing disturbance mechanism is arranged at the mineral input port and comprises a rotating piece, a capturing disturbance plate with a screening function is arranged on the rotating piece, and the capturing disturbance plate drives mineral particles below the mineral input port to be pushed to the mineral input port through the rotating piece. According to the invention, the catching disturbance plate on the roller rotates in the thin and soft substrate, and through the structural design and arrangement of the catching disturbance plate, the resistance borne by the catching disturbance plate is reduced, meanwhile, the disturbance to the thin and soft substrate is reduced, the energy consumption is reduced, and the environmental damage is reduced. And the hydraulic conveying mechanism adopts a hydraulic structure, so that moving parts are reduced, and the operation reliability is improved.
Description
Technical Field
The invention belongs to the technical field of underwater mining, and particularly relates to an underwater ore collecting mechanism for collecting underwater multi-metal nodules.
Background
The surface layer of the ocean sediment is rich in polymetallic nodules, which contain various metals and have high economic exploitation value. The collection of the polymetallic nodules from the submarine sediments with the depth of several kilometers is completed by an ore collecting mechanism, and meanwhile, the ore collecting mechanism is a completing mechanism of the first procedure of ocean mining and is also an important component of the development of a deep sea mining system.
Since the 80 s in the 20 th century, mineral collecting devices proposed at home and abroad mainly include three types, namely mechanical type, hydraulic type and composite type. Mechanical devices are used to collect the seafloor nodules mechanically. Representative examples are: belt-shaped chain plates, roller wheel buckets and belt wheel buckets, but mechanical ore collecting devices are more complicated than hydraulic devices, digging teeth are easy to damage, too many sediments are dug, and the continuous and reliable operation difficulty is very high in long time and high efficiency; the hydraulic ore collecting device sucks the nodule ore by using negative pressure generated by jet flow, and has the defects of collecting a large amount of seabed sediments, low energy utilization rate and large environmental disturbance; the existing composite ore collecting device adopts a double-row nozzle to collect nodules and an inclined chain plate to convey the nodules, and has the defects of more moving parts, complex structure and low running reliability.
Disclosure of Invention
The invention aims to provide an underwater ore collecting mechanism which has low disturbance to marine environment and low energy consumption in the acquisition process, thereby solving the problems.
In order to achieve the purpose, the invention discloses a mineral collecting device for controlling the free suspension motion of a mineral collector, which comprises a hydraulic conveying mechanism, a conveying channel and a catching and disturbing mechanism, wherein the hydraulic conveying mechanism drives water in the conveying channel to flow from a mineral input port to a mineral output port of the hydraulic conveying mechanism, the catching and disturbing mechanism is arranged at the mineral input port, the catching and disturbing mechanism comprises a rotating piece, a catching and disturbing plate with the screening function is arranged on the rotating piece, and the catching and disturbing plate drives mineral particles below the mineral input port to be pushed to the mineral input port through the rotating piece. Through the seizure disturbance board that has the screening effect, filterable thin soft bottom in the propelling movement thing granule reduces and catches the resistance that the disturbance board receives, reduces the disturbance to thin soft bottom simultaneously, reduces the energy consumption and reduces the environmental destruction.
Furthermore, the capturing and disturbing plate is provided with a plurality of filtering holes for filtering the underwater thin and soft substrate, and the aperture of each filtering hole is smaller than the particle size of the target mineral particles, so that the thin and soft substrate and water can be ensured to pass through the filtering holes, and the target mineral particles can not pass through the filtering holes.
Further, the mineral input port is provided with a mineral collection cover, the lower end of the mineral collection cover is provided with a first opening facing the thin and soft bottom, the capturing and disturbing mechanism is arranged in the mineral collection cover, and the capturing and disturbing plate extends to the position below the first opening. The ore collecting cover provides an installation space and a mineral inlet for the rotating part, and when the catching disturbance plate rolls mineral particles into the space in the ore collecting cover, stable water power can be formed in the ore collecting cover, so that the mineral particles are driven to enter the conveying channel.
Furthermore, the rotating part is a roller which is of a hollow structure, and a connecting channel for communicating the inner cavity with the outside is arranged on the roller. The roller with larger volume prevents mineral particles from being detained at the root part of the catching disturbance plate, and the roller is prevented from being crushed by deep water high pressure through the internal and external communication arrangement.
Further, the mineral input port faces the catching disturbance plate below the roller, so that mineral particles pushed by the catching disturbance plate can move towards the mineral input port.
Further, catch disturbance board and include the skeleton and have the filtration pore filter screen, the skeleton with the removable installation of cylinder, the filter screen rigid coupling is on the skeleton, and the filter screen is because thin threadiness form between its filtration pore, and is little to the disturbance of rare soft substrate, and the filter screen source is extensive, and the removable design of skeleton can the pertinence gather the mineral particle of target particle size simultaneously.
Furthermore, catch disturbance board and evenly lay on the rotating member, just catch the disturbance board and discontinuously set up on the plane of crossing the cylinder axis, and adjacent catch the disturbance board crisscross setting on the plane of crossing the cylinder axis, under the resistance that receives the thin soft bottom when reducing the cylinder rotation, also can guarantee that every many metal concretions can be caught the disturbance.
Furthermore, the place ahead of collection mine cover still is provided with the second opening, the downside and the first opening intercommunication of second opening, the upside extends to the top of rotating member, catch the disturbance board and extend to outside the second opening to working range on the cylinder has been enlarged, further adapts to the rugged seabed environment, the top setting of the top of the upset board laminating collection mine cover of catching above the rotating member, thereby can prevent that the mineral particles from spilling over from catching the clearance between disturbance board and the top of collection mine cover.
Furthermore, the hydraulic conveying mechanism is a water spraying assembly installed on the conveying channel, the water spraying assembly comprises a nozzle, a water pump driving motor, a water pump and a water conveying pipeline, the water conveying pipeline is installed on the conveying channel, the input end of the nozzle is connected with one end of the water conveying pipeline, the output end of the nozzle extends into the conveying channel and is arranged towards the mineral output port, the other end of the water conveying pipeline is connected with one end of the water pump, and the other end of the water pump is connected with the water pump driving motor, so that stable and adjustable conveying hydraulic power is formed in the conveying channel.
Furthermore, the conveying channel comprises a conveying channel upper cover plate, a conveying channel lower cover plate and a side plate, the conveying channel upper cover plate, the conveying channel lower cover plate and the side plate form a long rectangular section channel, the output end of the nozzle is arranged along the length direction of the long rectangular section, and then water in the length direction of the long rectangular section can be driven to be uniformly and stably conveyed at the same speed.
Compared with the prior art, the invention has the advantages that:
according to the invention, the catching disturbance plate on the roller rotates in the thin and soft substrate, and through the structural design and arrangement of the catching disturbance plate, the resistance borne by the catching disturbance plate is reduced, meanwhile, the disturbance to the thin and soft substrate is reduced, the energy consumption is reduced, and the environmental damage is reduced. And the hydraulic conveying mechanism adopts a hydraulic structure, so that moving parts are reduced, and the operation reliability is improved. The problems of large energy loss and large bottom disturbance in the hydraulic capture process of the existing hydraulic ore collecting system are solved, and the problems of more moving parts, complex structure and low operation reliability caused by the fact that the existing combined ore collecting mechanism adopts an inclined chain plate to convey nodules are also solved.
The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic front view of an underwater mine collection mechanism disclosed in a preferred embodiment of the present invention;
FIG. 2 is a schematic right view of the underwater mine collection mechanism disclosed in the preferred embodiment of the present invention;
FIG. 3 is an axial schematic view of the disclosed water jet assembly in accordance with a preferred embodiment of the present invention;
fig. 4 is a schematic view of the working principle of the underwater mine collecting mechanism disclosed by the preferred embodiment of the invention.
Illustration of the drawings:
1. a delivery channel; 2. a water spray assembly; 3. a nozzle; 4. a filtration pore; 5. capturing the disturbance plate; 6. a drum driving motor; 7. a drum; 8. an upper cover plate of the conveying channel; 9. a lower cover plate of the conveying channel; 10. a side plate; 11. a water pump drive motor; 12. a water pump; 13. a water delivery pipeline; 14. a framework; 15. a filter screen; 16. a second opening; 17. a first opening; 18. an ore collecting cover; 19. a mineral input port; 20. a mineral delivery outlet; 21. a connecting channel.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
As shown in fig. 1-4, the invention discloses a mine collecting device for controlling the free suspension motion of a mine collector, which comprises a hydraulic conveying mechanism, a conveying channel 1 and a catching disturbance mechanism, wherein, the conveying channel 1 comprises a rectangular conveying channel 1 formed by an upper conveying channel cover plate 8, a lower conveying channel cover plate 9 and two side plates 10, the rectangular conveying channel 1 is of a long rectangular section structure, a mineral input port 19 and a mineral output port 20 are arranged at two ends of the conveying channel 1, the hydraulic conveying mechanism comprises a water spraying assembly 2, the water spraying assembly 2 comprises a water pump driving motor 11, a water pump 12, a nozzle 3 and a water conveying pipeline 13, the nozzle 3 is installed at one end of the water conveying pipeline 13, an output port of the nozzle extends into the conveying channel 1, the water conveying pipeline 13 is installed on the conveying channel 1, the other end of the water conveying pipeline 13 is connected with one end of the water pump 12, and the other end of the water pump 12 is connected with the water pump driving motor 11 (which is a hydraulic motor). Whole water spray subassembly 2 is installed on transfer passage 1, and the nozzle 3 of this water spray subassembly 2 sets up towards transfer passage 1's delivery outlet, and when nozzle 3 sprayed water towards transfer passage 1's delivery outlet, can drive the water in the transfer passage 1 and flow to mineral delivery outlet 20 from mineral input port 19, and then realize the water conservancy transport effect.
When the water-saving device is specifically arranged, the output port of the nozzle 3 is of a flat structure and is arranged along the length direction of the long rectangular section of the conveying channel 1, so that water in the length direction of the long rectangular section can be driven to be uniformly and stably conveyed at the same speed. The catching and disturbing mechanism is arranged in the ore collecting cover 18 of the mineral input port 19 and comprises a rotating member, the rotating member is provided with a catching and disturbing plate 5 with a filter hole 4, the catching and disturbing plate 5 rotates along with the rotating member to convey mineral particles in the thin and soft substrate to the mineral input port 19, wherein the aperture of the filter hole 4 is smaller than the particle size of target mineral particles, so that the thin and soft substrate and water can be ensured to pass through the filter hole 4 and the target mineral particles can not pass through, and the driving resistance and the disturbance to the water body are reduced. The target mineral particles are then transported out of the mineral outlet 20 by hydraulic transport to the silo and to the intermediate silo of the hoisting system. Specifically, the capturing disturbance mechanism further comprises a roller driving motor 6 (also a hydraulic driving motor) mounted on the mine collection cover 18, the rotating member is a roller 7, two ends of the roller 7 are pivoted with the opposite side walls of the mine collection cover 18 and are driven to rotate by the roller driving motor 6, and the capturing disturbance plate 5 is fixedly connected to the outer wall of the roller 7. The catching disturbance plate 5 comprises an external framework 14 and an internal filter screen 15, filter holes 4 (meshes are the filter holes 4) for filtering the thin and soft substrate are formed in the filter screen 15, the filter screen 15 has small disturbance on the thin and soft substrate due to the fact that the filter holes 4 are thin lines, and the filter screen 15 is wide in source and has practical applicability. Skeleton 14 and cylinder 7 pass through welding mode rigid coupling or detachable connection mode, and in this embodiment, skeleton 14 and cylinder 7 adopt detachable connection (for example bolted connection), and the mineral granule of collection target particle size that can be pertinence, the mineral granule of different particle size uses the seizure disturbance board 5 that has different filtration pore 4 sizes promptly, realizes accurate collection. The filter screen 15 is fixedly connected to the framework 14.
In this embodiment, the drum 7 is hollow, and the arrangement of the cylindrical rotating member prevents the mineral particles from accumulating at the root of the catching spoiler 5, to which the catching spoiler 5 is fixed, when the catching spoiler 5 pushes the mineral particles toward the mineral inlet 19. And be provided with inside and outside connecting channel 21 of intercommunication on this cylinder 7, avoid cylinder 7 sealed to lead to by deep sea hydraulic pressure fracturing on the one hand, on the other hand also avoids cylinder 7 to the too big disturbance of rare soft bottom.
Meanwhile, in the present embodiment, the catching disturbance plates 5 are intermittently staggered on the roller 7, that is, intermittently staggered on a plane passing through the axis of the roller 7, and the catching disturbance plates 5 on different planes passing through the axis of the roller 7 are staggered. The resistance of the thin and soft substrate borne by the rotary drum 7 during rotation is reduced through intermittent arrangement, and the staggered layout on different surfaces ensures that each multi-metal nodule can be captured and disturbed.
In the present embodiment, the first opening 17 is provided below the mine collecting cover 18, and the second opening 16 is provided in front. The lower side of the second opening 16 communicates with the first opening 17, and the upper side thereof extends above the rotary member, and the interference plate 5 extends out of the second opening 16. Wherein a portion of the catch spoiler 5 extends below the first opening 17 so as to be inserted into the submerged soft substrate to push mineral particles therein towards the mineral input port 19. At the same time, the part above the second opening 16 is located as close as possible to the catching spoiler 5 (still maintaining a certain clearance), thus creating a larger conveying hydraulic force, while mineral particles that are also placed into the collecting hood 18 exit from the second opening 16. Through the setting of second opening 16, made things convenient for the installation of whole cylinder 7 on the one hand, simultaneously, through stretching out the effect that the seizure disturbance board 5 of second opening 16 also can play the excavation to more can adapt to the environment of unevenness under water, strengthened the ore collecting ability.
In this embodiment, the hydraulic conveying mechanism is installed on the conveying channel upper cover plate 8, and of course, the hydraulic conveying mechanism may be installed on the conveying channel lower cover plate 9 according to actual needs, or both sides of the conveying channel upper cover plate 8 and the conveying channel lower cover plate 9 are installed.
The specific working process is as follows: the polymetallic tuberculosis is present on the thin and soft substrate, or is semi-buried or fully buried, and the shear strength is almost zero because the surface layer of the deep sea thin and soft substrate is particularly thin and soft. When in work, the ore collecting mechanism is arranged at the front end of an underwater mining vehicle or a sampler (connected with the underwater mining vehicle or the sampler through a connecting rod and an oil cylinder). When the ore collecting mechanism collects the nodules, the catching disturbing plate 5 on the roller 7 of the ore collecting mechanism is controlled to be inserted into the thin and soft substrate through a mining vehicle or a sampler. The roller 7 is driven by a roller driving motor 6 to rotate, the catching disturbance plate 5 rotates in the thin and soft substrate, the thin and soft substrate flows away through the filtering holes 4 on the catching disturbance plate 5, the polymetallic nodule moves to the mineral input port 19 under the action of the catching disturbance plate 5, moves to the upper part of the conveying channel 1 under the drive of upward water flow in the conveying channel 1, and is finally output to a storage bin and a relay bin of a lifting system from the mineral output port 20. As only the catching disturbance plate 5 rotates in the thin and soft substrate, the resistance borne by the catching disturbance plate 5 is reduced through the structural design and arrangement of the catching disturbance plate 5, meanwhile, the disturbance to the substrate is reduced, the energy consumption is reduced, and the environmental damage is reduced. And the hydraulic conveying mechanism adopts a hydraulic structure, so that moving parts are reduced, and the operation reliability is improved.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A mineral collection device for controlling the free suspension motion of a mineral collector comprises a hydraulic conveying mechanism, a conveying channel (1) and a catching disturbance mechanism, and is characterized in that the hydraulic conveying mechanism drives water in the conveying channel (1) to flow from a mineral input port (19) to a mineral output port (20), the catching disturbance mechanism is arranged at the mineral input port (19) and comprises a rotating piece, a catching disturbance plate (5) with a screening function is arranged on the rotating piece, and the catching disturbance plate (5) pushes mineral particles below the mineral input port (19) to the mineral input port (19) through the driving of the rotating piece.
2. An underwater concentrating mechanism according to claim 1, wherein the catching disturbance plate (5) is provided with a plurality of filtering holes (4) for filtering underwater thin and soft substrate, and the diameter of the filtering holes (4) is smaller than the particle size of the target mineral particles.
3. An underwater mine collection mechanism according to claim 2, wherein the mineral intake (19) is provided with a mine collection cover (18), the lower end of the mine collection cover (18) is provided with a first opening (17) towards the soft substrate, the disturbance catching means is provided in the mine collection cover (18), and the disturbance catching plate (5) extends below the first opening (17).
4. An underwater mine collection mechanism according to claim 3, wherein the rotary member is a drum (7), the drum (7) is a hollow structure, and a connecting passage (21) for connecting the inner cavity and the outside is provided on the drum (7).
5. An underwater concentrating mechanism according to claim 4 characterised in that the mineral input port (19) is directed towards the catch disturbance plate (5) below the drum (7).
6. An underwater mine collection mechanism according to any one of claims 4 to 5, wherein the disturbance capturing plate (5) includes a frame (14) and a filter screen (15) having filter holes (4), the frame (14) and the drum (7) are detachably mounted, and the filter screen (15) is fixedly connected to the frame (14).
7. An underwater concentrating mechanism according to any one of claims 4 to 5, wherein the catching disturbance plates (5) are uniformly arranged on the rotary member, and the catching disturbance plates (5) are intermittently arranged on a plane passing through the axis of the drum (7), and the catching disturbance plates (5) on adjacent planes passing through the axis of the drum (7) are alternately arranged.
8. An underwater mine collection mechanism according to claim 3 or 4, wherein a second opening (16) is further provided in front of the mine collection cover (18), the lower side of the second opening (16) is communicated with the first opening (17), the upper side of the second opening extends to the upper side of the rotating member, the catching disturbance plate (5) extends out of the second opening (16), and the catching disturbance plate (5) above the rotating member is arranged to be attached to the top of the mine collection cover (18).
9. An underwater mine collection mechanism according to any one of claims 1 to 4, wherein the hydraulic conveying mechanism is a water spraying assembly (2) installed on the conveying channel (1), the water spraying assembly (2) comprises a nozzle (3), a water pump driving motor (11), a water pump (12) and a water conveying pipeline (13), the water conveying pipeline (13) is installed on the conveying channel (1), the input end of the nozzle (3) is connected with one end of the water conveying pipeline (13), the output end of the nozzle extends into the conveying channel (1) and is arranged towards the mineral output port (20), the other end of the water conveying pipeline (13) is connected with one end of the water pump (12), and the other end of the water pump (12) is connected with the water pump driving motor (11).
10. An underwater mine collection mechanism according to claim 9, wherein the conveying passage (1) includes a conveying passage upper cover plate (8), a conveying passage lower cover plate (9) and a side plate (10), the conveying passage upper cover plate (8), the conveying passage lower cover plate (9) and the side plate (10) form a long rectangular cross-section passage, and the output ends of the nozzles (3) are arranged along the length direction of the long rectangular cross-section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010376280.1A CN111749699A (en) | 2020-05-07 | 2020-05-07 | Ore collecting device for controlling free hovering motion of ore collecting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010376280.1A CN111749699A (en) | 2020-05-07 | 2020-05-07 | Ore collecting device for controlling free hovering motion of ore collecting machine |
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| Publication Number | Publication Date |
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| CN111749699A true CN111749699A (en) | 2020-10-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010376280.1A Withdrawn CN111749699A (en) | 2020-05-07 | 2020-05-07 | Ore collecting device for controlling free hovering motion of ore collecting machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112983426A (en) * | 2021-03-10 | 2021-06-18 | 中国海洋大学 | Crab-claw-like deep-sea mining ore collecting head |
-
2020
- 2020-05-07 CN CN202010376280.1A patent/CN111749699A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112983426A (en) * | 2021-03-10 | 2021-06-18 | 中国海洋大学 | Crab-claw-like deep-sea mining ore collecting head |
| CN112983426B (en) * | 2021-03-10 | 2021-12-24 | 中国海洋大学 | Crab-claw-like deep-sea mining ore collecting head |
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Application publication date: 20201009 |