CN215057351U

CN215057351U - Deep sea seabed polymetallic nodule mine mining device

Info

Publication number: CN215057351U
Application number: CN202121452978.3U
Authority: CN
Inventors: 颜健; 彭佑多; 王集泽; 金永平; 宁宇
Original assignee: Hunan University of Science and Technology
Current assignee: Hunan University of Science and Technology
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2021-12-07
Anticipated expiration: 2031-06-29

Abstract

The utility model discloses a deep sea seabed polymetallic nodule mine mining device, which comprises a mother ship, an ore concentration station, an ore lifting system and a mining device; the mother ship is positioned on the sea surface, the ore concentration station and the mining device are positioned on the seabed, and the mother ship is connected with the ore concentration station, the ore lifting system and the mining device through umbilical cables, so that power supply and communication of the ore concentration station, the ore lifting system and the mining device are realized; the ore concentration station is connected with the mining device through a communication power supply cable; the mining device is arranged in the coastal bottom and collects the ore, then emptys in the ore concentration station, and the ore concentration station is equipped with the container of splendid attire ore, and the container can promote to the mother ship on sea through ore lift system. The utility model is provided with a plurality of mining devices, which can work in parallel in the designated area without mutual interference and has high mining efficiency; the utility model discloses a mining device is small, and it carries out attitude control through the propeller moreover, and is little, destroy little to the seabed environment disturbance.

Description

Deep sea seabed polymetallic nodule mine mining device

Technical Field

The utility model belongs to the technical field of ocean mining engineering, especially, relate to a deep sea seabed polymetallic nodule mine mining device.

Background

In recent years, with the increase in the demand for metal resources by humans and the acceleration of the consumption of mineral resources on land, people have looked at submarine mineral resources with a low degree of development. Since open sea resources are commonly owned by all human beings, according to the regulation of the united nations 'ocean law convention,' resource development rights generally follow the principle of who develops who has priority, and world countries pay particular attention to sustainable green development of submarine mineral resources. The polymetallic nodule located on the seabed is precious ore with the appearance similar to potatoes, the diameter of the polymetallic nodule is usually between 5 and 10cm, and the majority of the polymetallic nodule is 7 cm; the total reserves of metals rich in nickel, cobalt, copper, manganese, gold, silver and the like are respectively dozens of times and thousands of times higher than the corresponding land reserves, and the method is one of key exploitation objects of marine solid mineral resources.

The polymetallic nodule ore is generally present in submarine sediments with the water depth of about 4000 m, the bottom of the polymetallic nodule ore is half buried in the sediments, the top of the polymetallic nodule ore is leaked out of the sediments, and due to the presence, the top of the polymetallic nodule ore is always rougher than the bottom of the polymetallic nodule ore, so that a plurality of new ideas are provided for the collection work. At present, seabed polymetallic nodule ore collecting equipment mainly takes a mining vehicle as a main working process, the seabed mining vehicle carries an ore collecting device, the seabed mining vehicle main body is responsible for the movement, the control energy supply and the ore transportation of the whole equipment, and the collecting device is responsible for collecting polymetallic nodule ores positioned on the surface of seabed sediments, so that the mining vehicle is large in size, and the weight of each mining vehicle can reach several tons; the mining vehicle mainly has two walking modes, namely a dragging type and a self-walking type; the collection device has three main forms: hydraulic power collection system, mechanical type collection system, hydraulic power-mechanical type collection system. The hydraulic collection device utilizes a motor to provide power for a high-pressure water pump, high-pressure water jet provided by the water pump blows the nodule metal from the submarine sediments, and the nodule metal is collected on a submarine mining vehicle by utilizing water flow when ores are emptied; the mechanical collecting device is used for digging up the polymetallic nodule from the seabed by using a rotary sprocket type ore collecting mechanism and rotationally conveying the polymetallic nodule to a seabed mining vehicle; the hydraulic-mechanical collecting device combines mechanical power and hydrodynamic power, and is characterized by firstly utilizing high-pressure water jet to blow up the nodule metal from the submarine sediment until the ore leaves the submarine sediment, then utilizing a mechanical chain plate to catch the nodule and conveying the nodule to a submarine mining vehicle. These ore collection devices are described in the literature (Liu Shao Jun, et al, Current State and progress of deep-sea mining equipment development [ J ]. Mechanic engineering journal, 2014,50(02): 8-18.).

It is mentioned by the oceanic experts that the above-mentioned prior art not only agitates the sediments on a large scale during the mineral collection process, but also displaces marine organisms living on polymetallic nodule ores, destroying their habitat for hundreds of years, causing a great and difficult to restore disruption to the seabed ecosystem. In fact, for large-scale undersea ore mining, not only high working efficiency and low power consumption of mining devices are pursued, but also the undersea sediments are required to be damaged little, disturbance to the undersea ecosystem is reduced to the greatest extent possible, and sustainable green development is realized. Therefore, the innovative utility model of the deep sea seabed polymetallic nodule mine mining device and the mining method have very important significance and value.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides an adopt light small-size walking mining device under water carries on a certain amount's mechanical gripper on the mining device, is used for picking up the many metal tuberculosis ore that is located seabed deposit surface, furthest's reduction mining process to the disturbance of seabed ecological environment and the deep sea seabed many metal tuberculosis ore mining device of destruction.

The utility model adopts the technical proposal that: a mining device for multi-metal nodule ores on the deep sea floor comprises a mother ship, an ore concentration station, an ore lifting system and a mining device; the mother ship is positioned on the sea surface, the ore concentration station and the mining device are positioned on the seabed, and the mother ship is connected with the ore concentration station, the ore lifting system and the mining device through umbilical cables, so that power supply and communication of the ore concentration station, the ore lifting system and the mining device are realized; the ore concentration station is connected with the mining device through a communication power supply cable; the mining device is used for collecting ores along the sea bottom and then dumping the ores into an ore concentration station, the ore concentration station is provided with a container for containing the ores, and the container can be lifted to a mother ship on the sea surface through an ore lifting system;

the mining device comprises a frame, a power propulsion device, an environment measuring device, an ore loading bin body, a collecting manipulator and a control device; the frame is a frame structure, and a buoyancy component is fixed on the frame structure; the rack is hinged with the tail end of the ore loading bin body, the bottom of the front end of the ore loading bin body is hinged with one end of an electric push rod, and the other end of the electric push rod is hinged with the rack; the tail end of the ore loading bin body is provided with a discharge port, the upper end of the bin door is hinged at the discharge port, and the bottom of the bin door is provided with a counterweight body; the power propulsion device, the environment measuring device and the collecting manipulator are arranged on the frame and are respectively and electrically connected with the control device, and the control device is electrically connected with the ore concentration station; the power propulsion device comprises a plurality of propellers I and a plurality of propellers II; the propeller II and the propeller I are arranged on the buoyancy assembly, and the propeller II is vertically arranged and used for realizing the vertical heave movement of the mining device; the propeller I is horizontally arranged; and at least one collecting manipulator is arranged on each of two sides of the rack and is used for collecting the polymetallic nodule ores into the ore loading bin body.

In the deep sea bottom polymetallic nodule mine mining device, a U-shaped space is formed by the rack, and the ore loading bin body is positioned in the U-shaped space; the ore loading bin body is a box body with an opening at the upper end; the side wall and the bottom plate of the ore loading bin body are hollow.

In the deep sea bottom polymetallic nodule mine mining device, the power propulsion device comprises four propellers I and four propellers II; a propeller I and a propeller II are respectively arranged at four corners of the buoyancy component; four propellers I are evenly arranged along the circumferential direction, and four propellers I and four propellers II are connected with controlling means respectively.

In the deep sea seabed polymetallic nodule mine mining device, the environment measuring device comprises a deep sea camera I, a deep sea illuminating lamp I, a sonar, a deep sea camera II and a deep sea illuminating lamp II; the sonar is arranged at the front end of the rack and is used for detecting front submarine obstacles for reasonably avoiding obstacles; meanwhile, the sonar is connected with an ore concentration station through an umbilical cable and used for positioning the position information of the mining device in the deep sea bottom and realizing the path planning of the mining device; the front end and the rear end of the rack are provided with a deep sea illuminating lamp II and a deep sea camera II; lighting and topographical vision measurements for the surrounding environment; the two sides and the bottom of the machine frame are provided with a deep-sea camera I and a deep-sea illuminating lamp which are used for positioning ores in the advancing process of the mining device; the deep-sea camera I, the deep-sea illuminating lamp I, the sonar, the deep-sea camera II and the deep-sea illuminating lamp II are respectively connected with the control device.

In the deep sea bottom polymetallic nodule mine mining device, the collecting manipulator comprises a fixed seat, an azimuth rotating seat, a mechanical arm I, a mechanical arm II, a mechanical arm III, a mechanical gripper, an azimuth driving motor, an arm I driving motor, an arm II driving motor, an arm III driving motor and a gripper driving motor; the fixed seat is fixed on the rack, an azimuth driving motor is installed on the fixed seat, an output shaft of the azimuth driving motor is fixedly connected with the azimuth rotating seat, two ends of the mechanical arm I are respectively hinged with the azimuth rotating seat and one end of the mechanical arm II, and the other end of the mechanical arm II is hinged with the mechanical arm III; the mechanical arm I is connected with an output shaft of a driving motor of the arm I; the mechanical arm II is connected with an output shaft of a driving motor of the arm II, and the driving motor of the arm II is arranged on the mechanical arm I; the mechanical arm III is connected with an output shaft of a driving motor of the arm III, and the driving motor of the arm III is arranged on the mechanical arm II; the mechanical paw is arranged at the tail end of the mechanical arm III, and the paw driving motor can drive the mechanical paw to grab ores; the position driving motor, the arm I driving motor, the arm II driving motor, the arm III driving motor and the paw driving motor are respectively connected with the control device.

In the deep sea seabed polymetallic nodule mine mining device, the mechanical gripper comprises a flange seat, a connecting rod, a hinged flange, a plurality of cambered surface fingers and a sliding shaft, and the flange seat is fixed at the tail end of a mechanical arm III; a circular through hole is formed in the middle of the flange seat and is in clearance fit with the sliding shaft, a hinged flange is mounted at the tail end of the sliding shaft, and a rack is arranged at the front end of the sliding shaft; the paw driving motor is fixedly arranged on the mechanical arm III, an output shaft of the paw driving motor is fixedly connected with a gear, and the gear is meshed with a rack structure on the sliding shaft; hinge holes with the same number as the cambered surface fingers are respectively arranged on the flange seat and the hinge flange; the bottom of the cambered surface finger is provided with two hinge holes, one hinge hole is hinged with the corresponding hinge hole on the hinge flange, the other hinge hole is hinged with one end of the connecting rod, and the other end of the connecting rod is hinged with the corresponding hinge hole on the flange seat; the axes of the flange seats corresponding to the fingers with the same cambered surface are parallel to the axes of the hinge holes on the hinge flanges.

In the deep sea seabed polymetallic nodule mine mining device, the rack is provided with the ore guide plate, the feed inlet of the ore guide plate is positioned below the discharge outlet at the tail end of the ore loading bin body, and the cross section of the ore guide plate is U-shaped.

In the deep sea bottom polymetallic nodule mine mining device, the control device is installed in the pressure-resistant cylinder, and the pressure-resistant cylinder is fixedly installed on the rack.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model is provided with a plurality of mining devices, which can work in parallel in the designated area without mutual interference and has high mining efficiency; the collected minerals are concentrated in the ore concentration station, and can be lifted to a mother ship for processing only by one ore lifting system, the mining device of the utility model has small volume, and the attitude control is carried out by a propeller, and the mechanical arm is adopted to pick up the minerals, thus the disturbance and the damage to the seabed environment are small; and the utility model discloses a mining device is equipped with propeller II that vertical direction set up, can regulate and control mining device's heaving in vertical direction for it does not have the settlement problem, has thoroughly solved because of the unable problem of retrieving of settlement, has reduced manufacturing cost.

Drawings

Fig. 1 is a working principle diagram of the present invention.

Fig. 2 is the utility model discloses a mining device working path planning schematic diagram in mining system.

Fig. 3 is a perspective view of the mining apparatus of the present invention.

Fig. 4 is a top view of the mining apparatus of the present invention.

Fig. 5 is a front view of the mining apparatus of the present invention.

Fig. 6 is the utility model discloses a mining device hides the perspective view of buoyancy subassembly and the ore loading storehouse body.

Fig. 7 is the utility model discloses a mining device hides afterbody direction view of buoyancy module.

Fig. 8 is a front view of the collecting manipulator in the mining apparatus of the present invention.

Fig. 9 is a top view of the collecting manipulator in the mining apparatus of the present invention.

Fig. 10 is an axial side view of a gripper in a pick robot according to the present invention.

In the figure: 1-mother ship; 2-ore concentration station; 3-an ore lifting system; 4-a mining apparatus; 5-communication power supply cable; 6, a pressure-resistant cylinder; 7-a collecting manipulator; 701-a fixed seat; 702-an azimuth rotation mount; 703-a mechanical arm I; 704-robot arm II; 705-robot iii; 706 — gripper; 707-azimuth drive motor; 708-arm i drive motor; 709-arm ii drive motor; 710-arm iii drive motor; 711-paw driving motor; 761-flange seat; 762 — a connecting rod; 763-hinged flange; 764 — finger with cambered surface; 765-sliding shaft; 8-a deep-sea camera I; 9-deep sea lighting lamp I; 10-propeller I; 11-a frame; 1101-a hinge lug seat; 12-sonar; 13-deep sea camera ii; 14-deep sea lighting lamp II; 15-a buoyancy module; 16-propeller II; 17-a loading bin body; 18-bin gate; 1801 — counterweight body; 19-electric push rod; 20-ore guiding plate.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

As shown in fig. 1 and 2, the utility model comprises a mother ship 1, an ore concentration station 2, an ore lifting system 3 and a mining device 4; the parent vessel 1 floats on the sea surface with the ore concentration station 2 and the mining installation 4 both located on the seabed. Mother ship 1 is connected through umbilical cable and ore concentration station 2, ore hoist system 3 and mining device 4, concentrates station 2, ore hoist system 3 and mining device 4 for the ore and provides information such as electric power and communication control. The ore concentration station 2 is connected with the mining device 4 through a communication power supply cable 5, and the ore concentration station 2 is kept in communication with the mining device 4 and is powered for the mining device 4. The mining means 4 collect polymetallic nodules of ore (hereinafter referred to simply as ore) through the seabed and then dump in the ore concentration station 2, and the ore concentration station 2 has still contained the container of splendid attire ore, and the ore in this container is promoted to the mother ship on the sea through ore hoist system 3. The main working scheme is as follows: mining device 4 is started through ore concentration station, searches the ore to 2 near sea areas in ore concentration station, and mining device 4 hovers in the ore top, gathers the manipulator and picks up the ore to the ore loading storehouse body 17, has picked up after the ore of current region, continues to next region, so in the past fills to ore loading storehouse body 17, and mining device 4 navigates back to ore concentration station, unloads to ore concentration station, gathers the robot like this and accomplishes single duty cycle.

As shown in fig. 2-6, the mining device 4 comprises a frame 11, a power propulsion device, an environment measuring device, a loading bin 17 and a collecting manipulator 7. The frame 11 is a space frame structure, and a buoyancy assembly 15 is fixed on the frame 11. The frame 11 forms a U-shaped space, and the ore loading bin body 17 is positioned in the U-shaped space. The ore loading bin body 17 is of a box-shaped structure with an opening at the upper end, and the side wall and the bottom plate of the ore loading bin body 17 are hollowed out. The tail end of the bottom of the ore loading bin body 17 is hinged with the tail end of the machine frame 11, as shown in fig. 5. The bottom of the front end of the ore loading bin body 17 is hinged with one end of an electric push rod 19; the other end of the electric push rod 19 is hinged with the frame 11. Thus, the overturning mechanism which is based on the frame 11, takes the electric push rod 19 as a motive power piece and adopts the movement structure of the ore loading bin body 17 is formed, so that the ore contained in the ore loading bin body 17 can be poured out. The tail end of the ore loading bin body 17 is provided with a discharge hole, the upper end of the bin door 18 is hinged at the discharge hole, and the bottom of the bin door 18 is provided with a counterweight body 1801. Therefore, the end face of the ore loading bin body 17 can be tightly covered by the bin gate 18 due to the action of gravity in the mining process, and the ore is prevented from falling; when the ores in the ore loading bin body 17 are poured into the container of the ore concentration station 2, the ore loading bin body 17 is pushed by the electric push rod 19 to perform overturning movement, at the moment, the bin door 18 is also automatically opened due to gravity, and the loaded ores can fall into the required container. As shown in fig. 3-6, an ore guide plate 20 mounted on the frame 11 is further disposed below the ore falling at the tail of the ore loading bin 17, and the cross section of the ore guide plate 20 is U-shaped, so that the ore can more conveniently fall into the container of the ore concentration station 2.

As shown in fig. 3-7, the power propulsion device comprises four propellers I10 and four propellers II 16; four corners of the buoyancy component 15 are provided with a propeller I10 and a propeller II 16. The propeller II 16 is in the vertical direction and is used for realizing vertical heave movement; propeller I10 is the level setting, and four propellers I10 evenly arrange along the circumferencial direction, and 4 propellers that lie in same horizontal plane promptly adopt symmetrical annular to arrange, and 6 degrees of freedom motions in space under water can be realized in a flexible way to such 8 propeller arrangement forms, have the organism of mining process operate steadily, the reliability is high and hover the advantage that the performance is good.

As shown in fig. 3-7, the environment measuring device includes a deep-sea camera i 8, a deep-sea illuminating lamp i 9, a sonar 12, a deep-sea camera ii 13, and a deep-sea illuminating lamp ii 14. The sonar 12 is installed at the front end of the rack 11, namely the advancing front end of the mining device, and the sonar 12 is used for detecting front seabed obstacles and avoiding obstacles; simultaneously, sonar 12 is connected with ore concentration station 2 through umbilical cables, and the communication between station 2 is concentrated to realization sonar 12 and ore for the positional information of location mining device in the deep sea seabed realizes the route planning of mining device. The front end and the rear end of the frame 11 are respectively provided with a deep sea illuminating lamp II 14 and a deep sea camera II 13 which are used for the illumination of the surrounding environment and the topographic visual measurement. The mining device is characterized in that a deep sea camera I8 and a deep sea illuminating lamp I9 are mounted on the left side, the right side and the bottom of the rack 11 and used for realizing ore positioning of the bottom of the sea bottom in the advancing process of the mining device.

As shown in fig. 3 to 10, the picking manipulator 7 is installed at least on the left and right sides of the rack 11, and a plurality of picking manipulators 7 may be installed on each side according to actual conditions. The acquisition manipulator 7 acquires the ores and puts the ores into the ore loading bin body 17 through the seabed ore position information shot by the deep sea camera I8. The acquisition manipulator 7 comprises a fixed seat 701, an azimuth rotating seat 702, a mechanical arm I703, a mechanical arm II 704, a mechanical arm III 705, a mechanical paw 706, an azimuth driving motor 707, an arm I driving motor 708, an arm II driving motor 709, an arm III driving motor 710 and a paw driving motor 711; the fixed seat 701 is fixed on the rack 11, an azimuth driving motor 707 is installed on the fixed seat 701, an output shaft of the azimuth driving motor 707 is fixedly connected with the azimuth rotating seat 702, two ends of the mechanical arm I703 are respectively hinged with the azimuth rotating seat 702 and one end of the mechanical arm II 704, and the other end of the mechanical arm II 704 is hinged with the mechanical arm III 705; the mechanical arm I703 is connected with an output shaft of a driving motor 708 of the arm I; the mechanical arm II 704 is connected with an output shaft of an arm II driving motor 709, and the arm II driving motor 709 is installed on the 703 mechanical arm I; the mechanical arm III 705 is connected with an output shaft of an arm III driving motor 710, and the arm III driving motor 710 is installed on a mechanical arm 704 II; gripper 706 is mounted at the end of robot arm III 705 and gripper drive motor 711 can drive gripper 706 to grip ore.

As shown in fig. 10, the gripper 706 includes a flange seat 761, a link 762, a hinged flange 763, four fingers 764, and a sliding shaft 765; the flange seat 761 is fixed at the tail end of the mechanical arm III 705; a circular through hole is formed in the middle of the flange seat 761 and is in clearance fit with the sliding shaft 765, a hinged flange 763 is installed at the tail end of the sliding shaft 765, and a rack is arranged at the front end of the sliding shaft 765; the paw driving motor 711 is fixedly arranged on the mechanical arm III 705, an output shaft of the paw driving motor 711 is fixedly connected with a gear, and the gear is meshed with a rack structure on the 765 sliding shaft; hinge holes with the same number as the cambered surface fingers 764 are respectively formed in the flange seat 761 and the hinge flange 763; the bottom of the cambered surface finger 764 is provided with two hinge holes, one hinge hole is hinged with the corresponding hinge hole on the hinge flange 763, the other hinge hole is hinged with one end of the connecting rod, and the other end of the connecting rod is hinged with the corresponding hinge hole on the flange seat 761; the axes of the hinge holes on the flange seat 761 and the hinge flange 763 corresponding to the same cambered surface finger 764 are parallel. The four cambered surface fingers 764 are uniformly arranged along the circumferential direction; the reciprocating motion of the sliding shaft 765 drives the four cambered surface fingers 764 to open and close the mechanical claws 706, so as to grab and discharge ore to the ore loading bin 17. The cambered surface finger 764 is of a cambered surface structure, and a plurality of water drainage through holes are formed in the cambered surface finger 764; the four arc-surface fingers 764 form a spherical structure with a diameter larger than the maximum diameter of the ore when being folded, so that the ore is completely wrapped, the ore is prevented from falling, and the ore grabbing action can be realized to disturb the seabed sediments as little as possible. Because many metal nodule ore size and shape are all comparatively similar with the potato, and roughly the shape is spherical, but the surface is the irregular shape, adopts above-mentioned this kind of parcel form cambered surface finger 764 structure, can prevent that the ore from spilling the problem from the finger joint when the ore coplanar diameter size distributes unevenly when snatching.

When the mining device 4 operates in the sea area where the multi-nodule metal is located, the mechanical arms arranged on two sides of the mining device 4 start to work, and the specific working process is as follows: the collecting manipulators 7 on the two sides respectively pick up the multi-metal nodule ores in the ore conveying bucket in the middle of the robot in a crossed mode, namely one collecting manipulator 7 is used for placing the ores into the ore conveying bucket when the nodule ores are grabbed by one collecting manipulator 7, and meanwhile the other collecting manipulator 7 is used for placing the ores into the ore conveying bucket, and the two collecting manipulators 7 are matched with each other to complete one working cycle. In the process, the acquisition manipulator 7 is required to run stably, the picking action is flexible, and the running tracks are not interfered with each other.

As shown in fig. 3, a pressure-resistant cylinder 6 is mounted on the frame 11, a control device is arranged in the pressure-resistant cylinder 6, and the control device is connected with the ore concentration station 2 to perform signal transmission in real time; the control device is electrically connected with a deep-sea camera I8, a deep-sea illuminating lamp I9, a sonar 12, a deep-sea camera II 13, a deep-sea illuminating lamp II 14, four propellers I10, four propellers II 16 of the power propulsion device, a driving position driving motor 707 of the acquisition manipulator 7, an arm I driving motor 708, an arm II driving motor 709, an arm III driving motor 710 and a paw driving motor 711 of the environment measuring device through signal lines, so that signal acquisition processing and implementation control of the devices are realized.

As shown in fig. 1-3, the mining operation of the present invention is as follows:

1. the mother ship 1 provides electric power for an ore concentration station 2 and an ore lifting system 3 which are positioned at the bottom of the sea through an umbilical cable and carries out communication and control;

2. the ore concentration station 2 is provided with a large ore container, and the ore in the container is lifted to the mother ship 1 through an ore lifting system 3;

3. the mining devices 4 are connected with the power supply device of the ore concentration station 2 through communication power supply cables 5, and the mining devices 4 collect the submarine ores in a moving mode by adopting a collection manipulator 7;

4. mining device 4 use ore to concentrate station 2 as the center, divide into a plurality of fan-shaped equal divisions with the virtual rectangle region of mining, only have a mining device 4 in every fan-shaped region, avoid the problem of each mining device 4's communication power supply cable 5 intertwine. As shown in fig. 2, the mining device 4 mines according to a zigzag path, and the mining process is as follows: hovering after advancing, measuring and positioning the position information of the submarine ore by the environment measuring device, then controlling the acquisition manipulator 7 to pick up the ore, placing the ore in the ore loading bin body 17, moving the mining device 4 according to a specified path after the acquisition of the ore in the acquisition space of the acquisition manipulator 7 is finished, and then mining according to the method; when the weight of the ore in the ore loading bin body 17 reaches the rated weight, the mining device 4 directly floats towards the ore concentration station 2 to advance, then the ore in the ore loading bin body 17 is poured into a container of the ore concentration station 2, and then mining is carried out at the position where the ore begins to return;

5. when the ores in the rectangular virtual area are collected, the ore concentration station 2 is moved to a new position, and then zoning is carried out and mining is carried out; this is repeated.

6. The mining device 4 is sent out through an ore concentration station, the mining device 4 hovers above sediments when reaching a multi-metal nodule occurrence sea area, and the collecting manipulator 7 starts to work. The left and right collecting manipulators 7 pick up ores to the ore conveying and loading bin body 17 in a crossed mode, continue to the next region after picking up the ores in the current region, so that the ore conveying and loading bin body 17 is filled in the past, the mining device 4 is opened and returned to an ore concentration station, the ore conveying bin body 17 is unloaded, and the mining device 4 completes a single working cycle.

Claims

1. A mining device for multi-metal nodule ores on the deep sea floor comprises a mother ship, an ore concentration station, an ore lifting system and a mining device; the method is characterized in that: the mother ship is positioned on the sea surface, the ore concentration station and the mining device are positioned on the seabed, and the mother ship is connected with the ore concentration station, the ore lifting system and the mining device through umbilical cables, so that power supply and communication of the ore concentration station, the ore lifting system and the mining device are realized; the ore concentration station is connected with the mining device through a communication power supply cable; the mining device is used for collecting ores along the sea bottom and then dumping the ores into an ore concentration station, the ore concentration station is provided with a container for containing the ores, and the ores in the container can be lifted to a mother ship on the sea surface through an ore lifting system;

2. The deep sea seafloor polymetallic nodule mining apparatus of claim 1, wherein: the frame forms a U-shaped space, and the ore loading bin body is positioned in the U-shaped space; the ore loading bin body is a box body with an opening at the upper end; the side wall and the bottom plate of the ore loading bin body are hollow.

3. The deep sea seafloor polymetallic nodule mining apparatus of claim 1, wherein: the power propulsion device comprises four propellers I and four propellers II; a propeller I and a propeller II are respectively arranged at four corners of the buoyancy component; four propellers I are evenly arranged along the circumferential direction, and four propellers I and four propellers II are connected with controlling means respectively.

4. The deep sea seafloor polymetallic nodule mining apparatus of claim 1, wherein: the environment measuring device comprises a deep-sea camera I, a deep-sea illuminating lamp I, a sonar, a deep-sea camera II and a deep-sea illuminating lamp II; the sonar is arranged at the front end of the rack and is used for detecting front submarine obstacles for reasonably avoiding obstacles; meanwhile, the sonar is connected with an ore concentration station through an umbilical cable and used for positioning the position information of the mining device in the deep sea bottom and realizing the path planning of the mining device; the front end and the rear end of the rack are provided with a deep sea illuminating lamp II and a deep sea camera II; lighting and topographical vision measurements for the surrounding environment; the two sides and the bottom of the machine frame are provided with a deep-sea camera I and a deep-sea illuminating lamp which are used for positioning ores in the advancing process of the mining device; the deep-sea camera I, the deep-sea illuminating lamp I, the sonar, the deep-sea camera II and the deep-sea illuminating lamp II are respectively connected with the control device.

5. The deep sea seafloor polymetallic nodule mining apparatus of claim 1, wherein: the acquisition manipulator comprises a fixed seat, an azimuth rotating seat, a mechanical arm I, a mechanical arm II, a mechanical arm III, a mechanical gripper, an azimuth driving motor, an arm I driving motor, an arm II driving motor, an arm III driving motor and a gripper driving motor; the fixed seat is fixed on the rack, an azimuth driving motor is installed on the fixed seat, an output shaft of the azimuth driving motor is fixedly connected with the azimuth rotating seat, two ends of the mechanical arm I are respectively hinged with the azimuth rotating seat and one end of the mechanical arm II, and the other end of the mechanical arm II is hinged with the mechanical arm III; the mechanical arm I is connected with an output shaft of a driving motor of the arm I; the mechanical arm II is connected with an output shaft of a driving motor of the arm II, and the driving motor of the arm II is arranged on the mechanical arm I; the mechanical arm III is connected with an output shaft of a driving motor of the arm III, and the driving motor of the arm III is arranged on the mechanical arm II; the mechanical paw is arranged at the tail end of the mechanical arm III, and the paw driving motor can drive the mechanical paw to grab ores; the position driving motor, the arm I driving motor, the arm II driving motor, the arm III driving motor and the paw driving motor are respectively connected with the control device.

6. The deep sea seafloor polymetallic nodule mining apparatus of claim 5, wherein: the mechanical paw comprises a flange seat, a connecting rod, a hinged flange, a plurality of cambered-surface fingers and a sliding shaft; the flange seat is fixed at the tail end of the mechanical arm III, a circular through hole is formed in the middle of the flange seat and is in clearance fit with the sliding shaft, a hinged flange is installed at the tail end of the sliding shaft, and a rack is arranged at the front end of the sliding shaft; the paw driving motor is fixedly arranged on the mechanical arm III, an output shaft of the paw driving motor is fixedly connected with a gear, and the gear is meshed with a rack structure on the sliding shaft; hinge holes with the same number as the cambered surface fingers are respectively arranged on the flange seat and the hinge flange; the bottom of the cambered surface finger is provided with two hinge holes, one hinge hole is hinged with the corresponding hinge hole on the hinge flange, the other hinge hole is hinged with one end of the connecting rod, and the other end of the connecting rod is hinged with the corresponding hinge hole on the flange seat; the axes of the flange seats corresponding to the fingers with the same cambered surface are parallel to the axes of the hinge holes on the hinge flanges.

7. The deep sea seafloor polymetallic nodule mining apparatus of claim 5, wherein: the machine frame is provided with an ore guide plate, a feed inlet of the ore guide plate is positioned below a discharge outlet at the tail end of the ore loading bin body, and the cross section of the ore guide plate is U-shaped.

8. The deep sea seafloor polymetallic nodule mining apparatus of claim 1, wherein: the control device is arranged in the pressure-resistant cylinder, and the pressure-resistant cylinder is fixedly arranged on the rack.