CN112282762B - High-efficient environmental protection deep sea manganese nodule mining robot of spud leg walking - Google Patents
High-efficient environmental protection deep sea manganese nodule mining robot of spud leg walking Download PDFInfo
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- CN112282762B CN112282762B CN202011158956.6A CN202011158956A CN112282762B CN 112282762 B CN112282762 B CN 112282762B CN 202011158956 A CN202011158956 A CN 202011158956A CN 112282762 B CN112282762 B CN 112282762B
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- 229910052748 manganese Inorganic materials 0.000 title claims abstract description 76
- 239000011572 manganese Substances 0.000 title claims abstract description 76
- PWHULOQIROXLJO-UHFFFAOYSA-N Manganese Chemical compound [Mn] PWHULOQIROXLJO-UHFFFAOYSA-N 0.000 title claims abstract description 73
- 238000005065 mining Methods 0.000 title claims abstract description 73
- 230000007613 environmental effect Effects 0.000 title claims description 7
- 230000007246 mechanism Effects 0.000 claims description 73
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 31
- 229910052500 inorganic mineral Inorganic materials 0.000 claims description 21
- 239000011707 mineral Substances 0.000 claims description 21
- 238000012546 transfer Methods 0.000 claims description 20
- 230000007704 transition Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 7
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- 206010017577 Gait disturbance Diseases 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008033 biological extinction Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000010802 sludge Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000000007 visual effect Effects 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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Abstract
The invention discloses a high-efficiency environment-friendly deep-sea manganese nodule mining robot with a walking pile leg. The invention can stably and efficiently complete the mining task on the geological layer where the complex manganese nodules are located, effectively protects the life and living environment of benthos in the mining area, protects the growth environment of the manganese nodules, does not influence the regrowth environment of organisms or other resources at the bottom of the sea after mining, and greatly solves the sharp contradiction of resource mining and environment protection.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a high-efficiency environment-friendly deep-sea manganese nodule mining robot with a walking pile leg.
Background
The global economy is rapidly developed, the resource consumption is intensified, the land mineral resources can not meet the huge demands of people gradually, and people begin to obtain the required mineral resources from the ocean. Underwater robots have been developed extensively as a tool for exploiting underwater or sub-sea mineral resources, but still face a number of problems.
At present, the existing deep sea manganese nodule mining robot has difficulty in walking on a stratum of the manganese nodule, the stratum of the manganese nodule is softer, the mining robot can directly bear the problem of facing to subsidence, the robot can cause difficulty in walking due to subsidence, and the working efficiency of the mining robot can be directly influenced. On the other hand, the existing deep sea manganese nodule mining robot does not consider the protection of benthos in the mining process, which causes the death of a large amount of deep sea benthos and even the extinction of the benthos in the mining process. The manganese nodules can continuously grow, but after being rolled by the walking tracks, the structure of geological layers where the manganese nodules are located and the like can be changed, the growth of the manganese nodules can be affected, the seabed environment is seriously damaged, and the future development of oceans is not facilitated. The existing deep sea manganese nodule mining robot has great destructiveness to the marine environment, and cannot realize reasonable balance of resource mining and ecological environment protection.
Therefore, how to provide an underwater robot which is used for exploiting the deep sea manganese nodule, basically has no harm to benthos in the exploiting process, effectively protects the marine environment, has low working energy consumption and higher exploiting efficiency is a problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
In view of the above, the invention provides a high-efficiency environment-friendly deep sea manganese nodule mining robot with walking legs, and aims to solve the technical problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a high-efficient environmental protection deep sea manganese nodule mining robot of spud leg walking formula includes:
a body;
a pile travelling mechanism; the number of the pile travelling mechanisms is three, and each pile travelling mechanism comprises a driving assembly and a lifting pile; the three driving components are respectively arranged on two side walls in the middle of the machine body and in the center of the tail of the machine body; the lifting piles are respectively connected with the driving assembly and can be arranged in the horizontal or vertical direction under the driving of the driving assembly; when the lifting pile is vertically arranged, the driving assembly can drive the lifting pile to generate reciprocating displacement in the vertical direction and the horizontal direction;
a vector propulsion mechanism; the vector propulsion mechanism comprises a plurality of vertical vector propellers and transverse vector propellers which are uniformly arranged on the periphery of the machine body;
a negative pressure suction mechanism; the negative pressure suction mechanism is arranged on the head of the machine body and is used for sucking and transferring benthos;
a manganese nodule wringing and sucking mechanism; the manganese nodule twisting and sucking mechanism is arranged on the head of the machine body, is positioned between the head of the machine body and the negative pressure sucking mechanism and is used for sucking manganese nodules.
Through the technical scheme, the driving assembly is adopted to drive the lifting pile to realize the walking function, the mining task can be stably and efficiently completed on the geological layer where the complex manganese nodules are located, the benthic organisms are sucked and transferred through the negative pressure suction mechanism, the life and living environment of the benthic organisms in the mining area are effectively protected, the growth environment of the manganese nodules is also protected, the regrowth environment of organisms at the bottom of the sea or other resources is not influenced after mining, and the sharp contradiction of resource mining and environment protection is greatly solved.
Preferably, in the pile leg walking type high-efficiency environment-friendly deep sea manganese nodule mining robot, the driving assembly comprises a rotating part, a feeding hydraulic cylinder and a lifting part; the rotating part is connected with the machine body; the side wall of the cylinder body of the feeding hydraulic cylinder is fixedly connected with the connecting end of the rotating part, and the arrangement in the horizontal or vertical direction can be realized under the driving of the rotation of the rotating part; the lifting component is fixedly connected with the end of a piston rod of the feeding hydraulic cylinder, and the lifting component can drive the lifting pile to generate reciprocating displacement in the vertical direction and the horizontal direction. The rotating part provided by the invention is a mechanical structure that a conventional motor drives a rotating shaft to rotate, the lifting pile can be retracted and extended through the rotation of the rotating part, when the rotating part rotates the lifting pile to be parallel to a machine body, the lifting pile is in a retracted state, and the lifting pile can be rotated to be in a vertical state during use, so that the retraction and the extension are simple and convenient, the stability and the reliability are realized, and the space is saved.
Preferably, in the spud leg walking type high-efficiency environment-friendly deep sea manganese nodule mining robot, a nut which is driven to rotate by power is arranged in the lifting component; the outer side of the lifting pile column is provided with threads and is in threaded connection with the nut. The lifting part and the lifting pile provided by the invention are matched by a conventional ball screw structure, the lifting part comprises a structure for limiting the rotation of the lifting pile, and the lifting pile can be driven to move up and down under the rotation of a nut, so that the lifting part is a conventional structure in the prior art and is not repeated.
Preferably, in the high-efficient environmental protection deep sea manganese nodule mining robot of spud leg walking formula, the bottom end when the lift stake is arranged vertically is the prong structure. The stability during walking can be improved.
Preferably, in the pile leg walking type high-efficiency environment-friendly deep sea manganese nodule mining robot, the number of the vertical vector thrusters is four, the vertical vector thrusters are uniformly arranged on the peripheral side wall of the machine body, and blades of the vertical vector thrusters are horizontally arranged; the number of the transverse vector propellers is four, the transverse vector propellers are evenly arranged on the peripheral bottom wall of the machine body, and blades of the transverse vector propellers are vertically arranged. Each vector propeller can rotate within a certain vertical or horizontal angle range, the propelling direction and the propelling force of the vector propeller are adjusted, and the pose and the motion form of the mining robot can be changed by controlling the 8 vector propellers, so that the mining robot can complete the motions in different modes.
Preferably, in the pile leg walking type high-efficiency environment-friendly deep sea manganese nodule mining robot, the negative pressure suction mechanism comprises a negative pressure rotary table, a negative pressure supporting arm, a negative pressure support, a biological transfer conveying hose, a water pump with adjustable flow speed, a main water pump pipeline and a negative pressure pipeline; the negative pressure rotary table is arranged on the bottom wall of the head of the machine body; the negative pressure supporting arm is formed by hinging and connecting a plurality of rod bodies, and one end of the negative pressure supporting arm is hinged with the rotating head of the negative pressure rotary table; the negative pressure support is hinged with the other end of the negative pressure support arm; the biological transfer conveying hose is connected to the negative pressure supporting arm, and an opening at one end faces the negative pressure support, and an opening at the other end faces the tail of the machine body; the water pump with adjustable flow rate is arranged on the machine body; one end of the main water pump pipeline is communicated with the water pump with adjustable flow rate, and the other end of the main water pump pipeline is communicated with the opening end of the biological transfer conveying hose facing the negative pressure support; one end of the negative pressure pipeline is fixed on the negative pressure support in an opening mode, and the other end of the negative pressure pipeline is communicated with the side wall of the main pipeline of the water pump.
When adjustable water pump of velocity of flow is to water pump trunk line pump water, because the velocity of flow is big, pressure is little, the water of negative pressure pipeline will be inhaled water pump trunk line to make the object can not receive mechanical damage at the negative pressure pipeline flow in-process, utilize this principle, connect a suction head with negative pressure pipeline one end for absorb benthos, carry out safe transfer to it. The negative pressure turntable can control the rotation of the horizontal plane of the negative pressure supporting arm to make the negative pressure supporting arm perform arc sweeping so as to realize that organisms in an arc-shaped area can be transferred by one-time sweeping, and the transfer speed and the efficiency are high. The rotary joint of the negative pressure supporting arm can adjust the ground clearance position of the negative pressure support so as to adapt to the complex terrain with the height fluctuation of the ore deposit. The negative pressure suction mechanism provided by the invention has multiple degrees of freedom, the used flow-rate-adjustable water pump can change the flow rate, the benthos is ensured not to be damaged in the transfer process to the maximum extent, and the mechanism can complete the safe and efficient transfer work of the benthos on complex terrains.
Preferably, in the pile leg walking type high-efficiency environment-friendly deep sea manganese nodule mining robot, the manganese nodule cutter suction mechanism comprises a cutter suction arm rotary table, a cutter suction arm, a cutter suction head, a cutter suction arm rotary steering engine, a cutter suction head driving motor, a mineral conveying hose and a manganese nodule transition treatment cabin; the cutter suction arm rotary table is arranged on the bottom wall of the head of the machine body; one end of the cutter suction arm is hinged with a rotating head of the cutter suction arm rotating table; the twisting suction head is rotatably connected to the other end of the twisting suction arm; the cutter suction arm rotary steering engine is mounted on the side wall of the cutter suction arm rotary table and is used for driving the cutter suction arm to rotate in the vertical direction; the twisting suction head driving motor is arranged on the twisting suction arm, and the power output end of the twisting suction head driving motor is fixedly connected with the twisting suction head; the mineral conveying hose is connected to the cutter suction arm, and an opening at one end of the mineral conveying hose is positioned below the cutter suction head; the manganese nodule transition treatment cabin is arranged on the top surface of the machine body and is communicated with the opening at the other end of the mineral conveying hose.
The twisting suction head driving motor drives the twisting suction head to loosen the location stratum of the manganese nodule with certain hardness and viscosity to change the manganese nodule from a hard block into a bulk state, so that the mineral conveying pump can suck the manganese nodule to pump the manganese nodule conveniently. The rotary steering engine of the twisting and sucking arm can enable the twisting and sucking arm to rotate in the vertical direction, so that the twisting and sucking head moves up and down to adapt to the height fluctuation of the terrain. The twisting and sucking arm rotary table enables the twisting and sucking arm to rotate in the horizontal direction, the twisting and sucking head moves transversely to form an arc shape, and therefore manganese nodules are sucked according to the arc-shaped sheet area.
Preferably, in the pile leg walking type high-efficiency environment-friendly deep sea manganese nodule mining robot, a buoyancy adjusting mechanism is further included; the buoyancy adjusting mechanism comprises a ballast tank arranged inside the machine body and a plurality of buoyancy adjusting oil bags arranged on the top surface of the machine body. The ballast tank adjusts buoyancy through water feeding and discharging; the buoyancy adjusting oil bag pumps pressure oil out of and into the pressure-resistant cabin body through the high-pressure pump to adjust the buoyancy.
Preferably, in the pile leg walking type high-efficiency environment-friendly deep sea manganese nodule mining robot, an environment detection sensing mechanism is further included; the environment detection sensing mechanism comprises a high-definition underwater camera, a sonar and an ultrahigh lumen underwater lamp which are arranged on the top surface of the head of the machine body. The ultra-high lumen underwater lamp provides a better light source for the high-definition underwater camera, so that the mining robot acquires visual information. The sonar can be used for detecting occurrence of manganese nodule in the mining area and providing remote environmental information, and planning and preparing in advance for mining operation of the mining robot.
Preferably, in the high-efficient environmental protection deep sea manganese nodule mining robot of spud leg walking formula, the organism afterbody is connected with and is used for the umbilical cable and the ore conveying hose collecting tube of integrated circuit and mineral conveying. Can meet the unified arrangement planning of pipelines and lines.
According to the technical scheme, compared with the prior art, the invention discloses a high-efficiency environment-friendly deep sea manganese nodule mining robot with a walking pile leg, which has the following beneficial effects:
1. the driving assembly is adopted to drive the lifting pile to realize a walking function, so that an exploitation task can be stably and efficiently finished on a geological layer where complex manganese nodules are located, benthos is pumped and transferred through the negative pressure pumping mechanism, the life and living environment of benthos in an exploitation area are effectively protected, the growth environment of the manganese nodules is also protected, the regrowth environment of organisms at the bottom of the sea or other resources is not influenced after exploitation, and the sharp contradiction between resource exploitation and environment protection is greatly solved.
2. Each vector thruster can rotate within a certain vertical or horizontal angle range, the propelling direction and the propelling force of the vector thruster are adjusted, and the pose and the motion form of the mining robot can be changed by controlling the 8 vector thrusters, so that the mining robot can complete the motions in different modes.
3. The negative pressure suction mechanism provided by the invention has multiple degrees of freedom, the used flow-rate-adjustable water pump can change the flow rate, the benthos is ensured not to be damaged in the transfer process to the maximum extent, and the mechanism can complete the safe and efficient transfer work of the benthos on complex terrains.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of the overall structure of a robot provided by the present invention;
FIG. 2 is a side view of the robot provided by the present invention in an expanded state;
FIG. 3 is a top view of the robot provided by the present invention in an expanded state;
FIG. 4 is a side view of the robot provided by the present invention in a retracted state;
FIG. 5 is an enlarged side view of the negative pressure suction mechanism and the nodule manganese forming suction mechanism of the robot according to the present invention;
FIG. 6 is a schematic diagram of a negative pressure suction mechanism of a robot provided by the present invention;
FIG. 7 is an enlarged view of the sensing mechanism for detecting environment of the robot according to the present invention;
fig. 8 is a cross-sectional view of the robot provided by the invention in contact with various underwater strata in a working state.
Wherein:
1-body;
2-pile travelling mechanism;
21-a drive assembly; 211-a rotating member; 212-feed hydraulic cylinder; 213-a lifting member; 22-lifting piles;
3-a vector propulsion mechanism;
31-a vertical vector thruster; 32-lateral vector thrusters;
4-a negative pressure suction mechanism;
41-negative pressure rotary table; 42-a negative pressure support arm; 43-negative pressure support; 44-a biological transfer delivery hose;
45-flow-rate adjustable water pump; 46-main water pump pipeline; 47-a negative pressure conduit;
5-manganese nodule wringing and sucking mechanism;
51-a cutter suction arm turntable; 52-a cutter suction arm; 53-twisting the suction head; 54-a rotary steering engine of a cutter suction arm; 55-twisting a suction head driving motor; 56-mineral conveying hose; 57-manganese nodule transition treatment cabin;
6-buoyancy adjusting mechanism;
61-ballast tank; 62-buoyancy regulating oil bladder;
7-environment detection sensing mechanism;
71-high definition underwater cameras; 72-sonar; 73-ultra high lumen underwater light;
8-an umbilical cable and an ore conveying hose integrated pipe;
91-layer of benthos; geological layers where 92-manganese nodules are located; 93-weak sludge geological formation; 94-hard soil geological layer.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to the attached drawings 1 to 8, the embodiment of the invention discloses a spud leg walking type high-efficiency environment-friendly deep sea manganese nodule mining robot, which comprises:
a machine body 1;
a pile traveling mechanism 2; the number of the pile travelling mechanisms 2 is three, and each pile travelling mechanism 2 comprises a driving assembly 21 and a lifting pile 22; the three driving components 21 are respectively arranged on two side walls in the middle of the machine body 1 and in the center of the tail part of the machine body 1; the lifting piles 22 are respectively connected with the driving assemblies 21 and can be arranged in the horizontal or vertical direction under the driving of the driving assemblies 21; when the lifting pile 22 is vertically arranged, the driving assembly 21 can drive the lifting pile 22 to generate reciprocating displacement in the vertical and horizontal directions;
a vector advancing mechanism 3; the vector propulsion mechanism 3 comprises a plurality of vertical vector propellers 31 and horizontal vector propellers 32 which are uniformly arranged on the periphery of the machine body 1;
a negative pressure suction mechanism 4; the negative pressure suction mechanism 4 is arranged at the head of the machine body 1 and is used for sucking and transferring benthos;
a manganese nodule wringing and absorbing mechanism 5; the manganese nodule twisting and sucking mechanism 5 is arranged at the head of the machine body 1, is positioned between the head of the machine body 1 and the negative pressure sucking mechanism 4, and is used for sucking manganese nodules.
In order to further optimize the above technical solution, the driving assembly 21 comprises a rotating member 211, a feeding hydraulic cylinder 212 and a lifting member 213; the rotating part 211 is connected with the machine body 1; the side wall of the cylinder body of the feeding hydraulic cylinder 212 is fixedly connected with the connecting end of the rotating part 211, and can be horizontally or vertically arranged under the driving of the rotating part 211; the lifting member 213 is fixedly connected to the end of the piston rod of the feeding hydraulic cylinder 212, and the lifting member 213 can drive the lifting pile 22 to reciprocate vertically and horizontally.
In order to further optimize the above technical solution, a nut driven to rotate by power is built in the lifting member 213; the outer side of the lifting pile 22 is provided with threads and is in threaded connection with a nut.
In order to further optimize the above technical solution, the bottom end of the lifting pile 22 is a pointed structure when it is vertically arranged.
In order to further optimize the technical scheme, the number of the vertical vector thrusters 31 is four, the vertical vector thrusters are uniformly arranged on the peripheral side wall of the machine body 1, and blades of the vertical vector thrusters 31 are horizontally arranged; the number of the transverse vector thrusters 32 is four, and the transverse vector thrusters are uniformly arranged on the peripheral bottom wall of the machine body 1, and the blades of the transverse vector thrusters 32 are vertically arranged.
In order to further optimize the technical scheme, the negative pressure suction mechanism 4 comprises a negative pressure rotary table 41, a negative pressure supporting arm 42, a negative pressure bracket 43, a biological transfer conveying hose 44, a water pump 45 with adjustable flow rate, a main water pump pipeline 46 and a negative pressure pipeline 47; the negative pressure rotary table 41 is arranged on the bottom wall of the head part of the machine body 1; the negative pressure supporting arm 42 is formed by hinging and connecting a plurality of rod bodies, and one end of the negative pressure supporting arm is hinged with the rotating head of the negative pressure rotary table 41; the negative pressure support 43 is hinged with the other end of the negative pressure support arm 42; the biological transfer conveying hose 44 is connected to the negative pressure supporting arm 42, and one end of the biological transfer conveying hose is opened towards the negative pressure support 43, and the other end of the biological transfer conveying hose is opened towards the tail part of the machine body 1; the water pump 45 with adjustable flow rate is arranged on the machine body 1; one end of a main water pump pipeline 46 is communicated with the water pump 45 with adjustable flow rate, and the other end of the main water pump pipeline is communicated with the opening end of the biological transfer conveying hose 44 facing the negative pressure support 43; one end of the negative pressure pipeline 47 is open and fixed on the negative pressure bracket 43, and the other end is communicated with the side wall of the main water pump pipeline 46.
In order to further optimize the technical scheme, the manganese nodule twisting and sucking mechanism 5 comprises a twisting and sucking arm rotary table 51, a twisting and sucking arm 52, a twisting and sucking head 53, a twisting and sucking arm rotary steering engine 54, a twisting and sucking head driving motor 55, a mineral conveying hose 56 and a manganese nodule transition processing cabin 57; the cutter suction arm rotary table 51 is arranged on the bottom wall of the head part of the machine body 1; one end of the cutter suction arm 52 is hinged with the rotating head of the cutter suction arm rotating platform 51; the twisting suction head 53 is rotatably connected to the other end of the twisting suction arm 52; the cutter suction arm rotary steering engine 54 is installed on the side wall of the cutter suction arm rotary table 51 and is used for driving the cutter suction arm 52 to rotate in the vertical direction; a twisting suction head driving motor 55 is arranged on the twisting suction arm 52, and the power output end of the twisting suction head driving motor is fixedly connected with the twisting suction head 53; the mineral conveying hose 56 is connected to the cutter suction arm 52, and one end of the hose is opened and positioned below the cutter suction head 53; the manganese nodule transition processing cabin 57 is installed on the top surface of the machine body 1 and is communicated with the other end opening of the mineral conveying hose 56.
In order to further optimize the technical scheme, the device also comprises a buoyancy adjusting mechanism 6; the buoyancy adjusting mechanism 6 includes a ballast tank 61 installed inside the machine body 1 and a plurality of buoyancy adjusting oil bags 62 installed on the top surface of the machine body 1.
In order to further optimize the technical scheme, the device also comprises an environment detection sensing mechanism 7; the environment detection sensing mechanism 7 comprises a high-definition underwater camera 71, a sonar 72 and an ultrahigh lumen underwater lamp 73 which are arranged on the top surface of the head of the machine body 1.
In order to further optimize the technical scheme, an umbilical cable and a mineral conveying hose integrated pipe 8 for integrating a circuit and conveying minerals are connected to the tail part of the machine body 1.
The working principle of the invention is as follows:
before the mining robot arrives at the mining area, the mining robot can leave the mining area through a lifting cable of a working ship cooperated with the buoyancy adjusting mechanism 6 and the vector propelling mechanism 3, and in the process, the negative pressure suction mechanism 4, the manganese nodule reaming and sucking mechanism 5 and the pile column walking mechanism 2 of the mining robot can be retracted, so that the mining robot is compact as much as possible, and the resistance is reduced, as shown in fig. 4. When working, the several mechanisms involved in the work are deployed accordingly.
When the mining robot works, the negative pressure bracket 43 works in front of the twisting suction head 53 for a certain distance all the time, and benthos are safely transferred in advance. The mining robot head is moved in an arc-shaped manner by the winching head 53 and the suction head of the negative pressure pipeline 47, and the place swept by the arc-shaped movement is an area through which the mining is carried out by the pile travelling mechanism 2. The winching head 53 can sweep over a range of widths that exceed the width of the mining robot itself, as shown in figure 3, so that walking on its own does not affect the unexplored mine. The umbilical cable and the ore conveying hose integrated pipe 8 are responsible for information interaction and material transportation. The manganese nodule transition processing cabin 57 screens out the manganese nodules, then puts the manganese nodules into the ore conveying hose of the umbilical cable and the ore conveying hose integrated pipe 8, so that the manganese nodules are pumped to a working ship and then delivered to a transport ship to be transported to the coast and the like. The screened useless substances in the manganese nodule transition treatment cabin 57 are directly discharged, so that the substances directly return to a mining area, and the energy consumption of secondary return is reduced. The three lifting piles 22 are set to meet the operation stability of the mining robot and reduce the energy consumption of other auxiliary stabilizing devices.
The pile driving mechanism 2 which does feeding motion during mining of the mining robot replaces a crawler belt with the lifting pile 22, so that the working environment can be well protected through point support, and the protection of the manganese nodule growth environment is far better than that of the crawler belt. The feeding hydraulic cylinder 212 can rotate vertically around the mining robot body 1, when the feeding hydraulic cylinder 212 is in the transverse direction, as shown in fig. 2, the lifting pile 22 is vertically erected on the seabed, the lifting component 213 can adjust the lifting pile 22 to move in the vertical direction, so as to adjust the height of the mining robot body, and when the mining robot performs the feeding movement, the lifting component 213 enables the lifting pile 22 to move up and down step by step to cooperate with the movement.
Specifically, the method comprises the following steps: the robot has three studs, similar to three legs, the lifting member 213 controls the lifting studs 22 to lift and fall, and the feed cylinder 212 controls the lifting studs 22 to advance and retract relative to the body 1 of the mining robot. The lifting piles 22 are lifted and suspended under the control of the lifting part 213, then the feeding hydraulic cylinders 213 withdraw the piston rods, the lifting piles 22 advance a distance relative to the machine body 1 of the mining robot and stop, then the lifting part 213 controls the lifting piles 22 to descend and insert into the hard soil geological layer 94, and at the moment, the lifting piles 22 are advanced one step relative to the mining robot, which is equivalent to stepping forward, when all three lifting piles 22 are stepped forward, the three feeding hydraulic cylinders 212 simultaneously extend the piston rods, and the lifting piles 22 are limited to move back and forth in the hard soil geological layer 94, so that the machine body 1 of the robot moves forward relative to the lifting piles 22, namely moves forward relative to the ground, and the walking process is completed.
The system is matched with three sets of pile travelling mechanisms 2, and the three lifting piles 22 are matched with each other to alternately lift and retreat to finish the feeding motion of the mining robot so as to make the mining robot advance forwards under the control of a feeding hydraulic cylinder 212 to move in the horizontal direction. The lifting piles 22 are used as supports in the advancing process, the rolling area is extremely small, and the three lifting piles 22 can firmly stand on the mineral deposit to accurately mine the mining area.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The utility model provides a high-efficient environmental protection deep sea manganese nodule mining robot of spud leg walking which characterized in that includes:
a body (1);
a pile traveling mechanism (2); the number of the pile travelling mechanisms (2) is three, and each pile travelling mechanism (2) comprises a driving assembly (21) and a lifting pile (22); the three driving components (21) are respectively arranged on two side walls in the middle of the machine body (1) and in the center of the tail of the machine body (1); the lifting piles (22) are respectively connected with the driving assembly (21) and can be arranged in the horizontal or vertical direction under the driving of the driving assembly (21); when the lifting pile (22) is vertically arranged, the driving assembly (21) can drive the lifting pile (22) to generate reciprocating displacement in the vertical direction and the horizontal direction;
a vector propulsion mechanism (3); the vector propulsion mechanism (3) comprises a plurality of vertical vector propellers (31) and transverse vector propellers (32) which are uniformly arranged on the periphery of the machine body (1);
a negative pressure suction mechanism (4); the negative pressure suction mechanism (4) is arranged at the head of the machine body (1) and is used for sucking and transferring benthos; the negative pressure suction mechanism (4) comprises a negative pressure rotary table (41), a negative pressure supporting arm (42), a negative pressure support (43), a biological transfer conveying hose (44), a water pump (45) with adjustable flow speed, a main water pump pipeline (46) and a negative pressure pipeline (47); the negative pressure rotary table (41) is arranged on the bottom wall of the head part of the machine body (1); the negative pressure supporting arm (42) is formed by hinging and connecting a plurality of rod bodies, and one end of the negative pressure supporting arm is hinged with the rotating head of the negative pressure rotary table (41); the negative pressure support (43) is hinged with the other end of the negative pressure support arm (42); the biological transfer conveying hose (44) is connected to the negative pressure supporting arm (42), and one end of the biological transfer conveying hose is opened towards the negative pressure support (43), and the other end of the biological transfer conveying hose is opened towards the tail part of the machine body (1); the flow-speed-adjustable water pump (45) is arranged on the machine body (1); one end of the main water pump pipeline (46) is communicated with the water pump (45) with adjustable flow rate, and the other end of the main water pump pipeline is communicated with the opening end of the biological transfer conveying hose (44) facing the negative pressure bracket (43); one end of the negative pressure pipeline (47) is opened and fixed on the negative pressure bracket (43), and the other end of the negative pressure pipeline is communicated with the side wall of the main water pump pipeline (46);
a manganese nodule wringing and absorbing mechanism (5); the manganese nodule twisting and sucking mechanism (5) is arranged at the head of the machine body (1), is positioned between the head of the machine body (1) and the negative pressure sucking mechanism (4), and is used for sucking manganese nodules.
2. The spud leg walking type high-efficiency environment-friendly deep sea manganese nodule mining robot according to claim 1, characterized in that the driving assembly (21) comprises a rotating member (211), a feeding hydraulic cylinder (212) and a lifting member (213); the rotating part (211) is connected with the machine body (1); the side wall of the cylinder body of the feeding hydraulic cylinder (212) is fixedly connected with the connecting end of the rotating part (211), and the horizontal or vertical arrangement can be realized under the driving of the rotation of the rotating part (211); the lifting component (213) is fixedly connected with the end of a piston rod of the feeding hydraulic cylinder (212), and the lifting component (213) can drive the lifting pile column (22) to generate reciprocating displacement in the vertical direction and the horizontal direction.
3. The spud leg walking type high-efficiency environment-friendly deep sea manganese nodule mining robot according to claim 2, characterized in that a nut driven to rotate by power is arranged in the lifting component (213); the outer side of the lifting pile column (22) is provided with threads and is in threaded connection with the nut.
4. The high-efficiency environment-friendly deep sea manganese nodule mining robot with the walking legs as claimed in claim 1, wherein the bottom end head of the lifting pile (22) is in a pointed structure when the lifting pile is vertically arranged.
5. The spud leg walking type high-efficiency environment-friendly deep sea manganese nodule mining robot according to claim 1, characterized in that the number of the vertical vector propellers (31) is four, and the vertical vector propellers are uniformly arranged on the peripheral side wall of the machine body (1), and the blades of the vertical vector propellers (31) are horizontally arranged; the number of the transverse vector propellers (32) is four, the transverse vector propellers are evenly arranged on the peripheral bottom wall of the machine body (1), and blades of the transverse vector propellers (32) are vertically arranged.
6. The spud leg walking type high-efficiency environment-friendly deep sea manganese nodule mining robot according to claim 1, characterized in that the manganese nodule cutter suction mechanism (5) comprises a cutter suction arm rotary table (51), a cutter suction arm (52), a cutter suction head (53), a cutter suction arm rotary steering engine (54), a cutter suction head driving motor (55), a mineral conveying hose (56) and a manganese nodule transition processing cabin (57); the cutter suction arm rotary table (51) is arranged on the bottom wall of the head part of the machine body (1); one end of the cutter suction arm (52) is hinged with the rotating head of the cutter suction arm rotating table (51); the twisting suction head (53) is rotatably connected to the other end of the twisting suction arm (52); the cutter suction arm rotating steering engine (54) is installed on the side wall of the cutter suction arm rotating table (51) and is used for driving the cutter suction arm (52) to rotate in the vertical direction; the twisting suction head driving motor (55) is arranged on the twisting suction arm (52), and the power output end of the twisting suction head driving motor is fixedly connected with the twisting suction head (53); the mineral conveying hose (56) is connected to the cutter suction arm (52), and an opening at one end is positioned below the cutter suction head (53); the manganese nodule transition treatment cabin (57) is arranged on the top surface of the machine body (1) and is communicated with the opening at the other end of the mineral conveying hose (56).
7. The spud leg walking type high-efficiency environment-friendly deep sea manganese nodule mining robot according to claim 1, characterized by further comprising a buoyancy adjusting mechanism (6); the buoyancy adjusting mechanism (6) comprises a ballast tank (61) arranged inside the machine body (1) and a plurality of buoyancy adjusting oil bags (62) arranged on the top surface of the machine body (1).
8. The spud leg walking type high-efficiency environment-friendly deep sea manganese nodule mining robot according to claim 1, characterized by further comprising an environment detection sensing mechanism (7); the environment detection sensing mechanism (7) comprises a high-definition underwater camera (71), a sonar (72) and an ultrahigh lumen underwater lamp (73) which are arranged on the top surface of the head of the machine body (1).
9. The spud leg walking type high-efficiency environment-friendly deep sea manganese nodule mining robot according to claim 1, characterized in that an umbilical cable and a mineral conveying hose integrated pipe (8) for integrated circuit and mineral conveying are connected to the tail of the machine body (1).
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| CN202011158956.6A CN112282762B (en) | 2020-10-26 | 2020-10-26 | High-efficient environmental protection deep sea manganese nodule mining robot of spud leg walking |
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| CN202011158956.6A CN112282762B (en) | 2020-10-26 | 2020-10-26 | High-efficient environmental protection deep sea manganese nodule mining robot of spud leg walking |
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| CN112282762B true CN112282762B (en) | 2021-10-22 |
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