Automatic picking and storing system for deep-sea polymetallic nodules

Abstract

The invention discloses a deep sea polymetallic nodule automatic picking and storing system which comprises a grating type storage cabin, a plurality of collecting openings are formed in the bottom of the grating type storage cabin, grating type telescopic net bags are arranged in the collecting openings, a grating type baffle is arranged at the bottom of the grating type storage cabin, and the grating type telescopic net bags are in linkage with the grating type baffle; the grating type telescopic net bag extends out of the collecting opening and is inserted into the deep position of sea mud to pick up the polymetallic nodules, the grating type telescopic net bag lifts and transports the polymetallic nodules into the grating type storage cabin when returning, and picking and storage are completed synchronously. The grating type telescopic net bag extends out of the collecting opening in the bottom of the grating type storage cabin and is inserted into the deep sea mud to pick up the polymetallic nodule so as to reduce disturbance to the seabed, meanwhile, by means of a linkage mechanism of the grating type baffle and the grating type telescopic net bag, the grating type baffle opens the collecting opening when the grating type telescopic net bag returns, and therefore the collecting effect is improved. And the collection port is closed before the grid type telescopic net bag extends out, so that the collection and storage integration of the deep sea polymetallic nodule is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deep-sea mining, in particular to an automatic picking and storing system for deep-sea polymetallic nodules. BACKGROUND

[0002] The picking of deep-sea polymetallic nodules is a process of collecting nodule-shaped minerals rich in multiple metals (such as manganese, iron, nickel, copper and cobalt) from the seabed to lay a foundation for detailed exploration and investigation in a specific deep-sea area for future mining work.

[0003] At present, the picking of deep-sea polymetallic nodules usually adopts the way of water jet mining and negative pressure suction of polymetallic nodules, that is, high-pressure jet is used to impact the seabed polymetallic nodules, and after the polymetallic nodules are suspended, the suspended polymetallic nodules are sucked and stored by negative pressure. Although this way can realize the automatic picking and storing of polymetallic nodules, in the process of collecting polymetallic nodules, the high-pressure jet will impact the seabed non-polymetallic nodule substances and organisms, resulting in that the collected polymetallic nodules contain a large amount of biological and non-biological impurities, which has a great environmental impact on the seabed and water body, and because a large amount of biological and non-biological impurities need to be sucked, the power consumption is also large, which cannot be applied to the collection of polymetallic nodules in a large area.

[0004] Therefore, the existing way of collecting polymetallic nodules by water jet and negative pressure suction has a great environmental impact on the seabed and water body because it needs to impact the seabed and simultaneously suck a large amount of non-polymetallic nodule substances and organisms. SUMMARY

[0005] The present application aims to provide an automatic picking and storing system for deep-sea polymetallic nodules to solve the technical problem in the prior art that the seabed needs to be impacted and a large amount of non-polymetallic nodule substances and organisms need to be sucked simultaneously, thereby having a great environmental impact on the seabed and water body.

[0006] To solve the above technical problem, the present application specifically provides the following technical scheme: An automatic picking and storing system for deep-sea polymetallic nodules, comprising a grid type storage cabin arranged at the bottom of a mining vehicle main body, and a plurality of collection ports are arranged at the bottom of the grid type storage cabin; A grid type telescopic net bag is arranged in the collection port and is driven by a vertical driving mechanism arranged in the mining vehicle main body, so that it can reciprocate in a direction perpendicular to the movement direction of the mining vehicle main body; when it moves downward to insert into the deep seabed mud, it picks up the polymetallic nodules, and when it moves upward to separate from the deep seabed mud, it takes out the picked polymetallic nodules from the seabed mud; The grid type baffle is arranged at the bottom of the grid type storage cabin and parallel to the bottom surface of the grid type storage cabin, is driven by the horizontal driving mechanism arranged at the bottom of the grid type storage cabin, and can reciprocate in the direction parallel to the travel direction of the mining vehicle body; and the grid gaps of the grid type baffle and the grid gaps of the grid type telescopic mesh bag are staggered with each other, so that the grid type telescopic mesh bag can move in the vertical direction through the grid type baffle. The grid type telescopic mesh bag and the grid type baffle are linked as follows: When the grid type telescopic mesh bag moves downward to insert the sea mud, the grid type baffle blocks the collection port at the bottom of the grid type storage cabin in the first position. When the grid type telescopic mesh bag moves upward to extract the sea mud, the grid type baffle translates to the second position to open the collection port. When the grid type telescopic mesh bag is retracted to the inside of the grid type storage cabin through the collection port, the grid type baffle reversely translates to the first position to block the collection port.

[0007] As a preferred scheme of the present application, the grid type telescopic mesh bag comprises a three-dimensional mesh bag, an upper end of the three-dimensional mesh bag is provided with a connecting piece, and the connecting piece is connected to a vertical driving mechanism in the mining vehicle body to drive the three-dimensional mesh bag to move up and down. The bottom of the three-dimensional mesh bag is in a three-dimensional arc-shaped curved structure, and the three-dimensional mesh bag is inserted into the deep sea through the bottom of the arc-shaped curved structure in a progressive manner to reduce disturbance to the sea bottom.

[0008] As a preferred scheme of the present application, the three-dimensional mesh bag comprises a plurality of U-shaped rods, the plurality of U-shaped rods are distributed in parallel and equidistantly, the diameters of the plurality of U-shaped rods gradually decrease from the middle to both sides, and the centers of curvature of the plurality of U-shaped rods are coaxially arranged. The curved sections of the plurality of U-shaped rods are arranged downward to form the bottom of the three-dimensional arc-shaped curved structure of the three-dimensional mesh bag, and the three-dimensional mesh bag is inserted into the deep sea in a progressive manner to reduce disturbance to the sea bottom.

[0009] As a preferred scheme of the present application, the connecting piece comprises a plurality of straight rods, the plurality of straight rods are arranged in pairs, the distances between the opposite two straight rods gradually decrease from the middle to both sides, and the lower ends of the opposite two straight rods are respectively connected to the upper ends of the corresponding two U-shaped rods. The bottom of the mining vehicle body has a plurality of movable parts, the upper ends of the plurality of straight rods of each connecting piece are installed on the movable parts of the mining vehicle body to drive the connecting piece and the three-dimensional mesh bag to move up and down. The upper end of the grid type storage cabin is closed by a multi-hole plate, and the vertical driving mechanism of the mining vehicle body passes through the multi-hole plate to connect the plurality of straight rods of the connecting piece.

[0010] As a preferred scheme of the present application, the inner width of the U-shaped rod located at both sides of the three-dimensional mesh is greater than the gap between the two adjacent U-shaped rods, so that the multi-metallic nodule can leak out of the three-dimensional mesh after being picked up into the grid storage cabin. The U-shaped rod is made of elastic material, so that the two adjacent U-shaped rods can be expanded outwardly after being pressed by the multi-metallic nodule, and can restore after the multi-metallic nodule is accommodated in the three-dimensional mesh.

[0011] As a preferred scheme of the present application, the three-dimensional mesh is arranged in the direction in which the mining vehicle travels, and the plane in which the U-shaped rod is located is perpendicular to the direction in which the mining vehicle body travels.

[0012] As a preferred scheme of the present application, the side wall and the bottom wall of the grid storage cabin are of the same strip grid structure, and the collection port is arranged through the strip grid structure at the bottom of the grid storage cabin. The gap of the strip grid structure is less than or equal to the gap of the grid telescopic mesh, and the gap of the strip grid structure is equal to the gap of the grid baffle.

[0013] As a preferred scheme of the present application, the strip grid structure comprises a plurality of grid strips, the ends of the plurality of grid strips are fixed together to form a grid between the two adjacent grid strips, and the width of the grid strip is greater than the width of the grid.

[0014] As a preferred scheme of the present application, the grid structure of the grid baffle is parallel to the grid structure of the grid telescopic mesh, and the grid structure of the grid baffle is arranged staggered with the grid structure of the grid telescopic mesh, and the grid structure of the grid telescopic mesh can move through the grid structure of the grid baffle.

[0015] As a preferred scheme of the present application, the grid baffle is integrally arranged by at least two comb tooth plates arranged side by side, and the width of each comb tooth plate is greater than the diameter of the collection port, so that the collection port can be completely covered. The moving direction of the grid baffle is perpendicular to the direction in which the mining vehicle body moves, and when the grid baffle is located at the first station, the comb tooth plate covers and blocks a plurality of collection ports in the direction in which the mining vehicle body moves, or when the grid baffle is located at the second station, the comb tooth plate returns and exposes a plurality of collection ports, so that a plurality of collection ports can be simultaneously closed or opened.

[0016] Compared with the prior art, the present application has the following beneficial effects: The present application reduces the disturbance to the seabed by extending the grid type telescopic net bag from the collection port at the bottom of the grid type storage cabin and inserting it into the deep seabed to pick up the polymetallic nodules, and simultaneously uses the linkage mechanism of the grid type baffle and the grid type telescopic net bag to open the collection port when the grid type telescopic net bag returns (if the grid type storage cabin has already accumulated the collected polymetallic nodules, a small part of the polymetallic nodules falling from the collection port will be caught by the grid type telescopic net bag), the grid type telescopic net bag is retracted into the grid type storage cabin to close the collection port, when the grid type telescopic net bag needs to perform the next collection operation, the grid type baffle is extended to continue the operation, and the polymetallic nodules collected last time are limited in the grid type storage cabin by the grid type baffle, so that the low-disturbance deep-sea polymetallic nodule picking and storing are realized. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only exemplary, and other drawings can be derived from the provided drawings without creative labor for those skilled in the art.

[0018] Figure 1 The overall structure schematic diagram of the deep-sea polymetallic nodule automatic picking and storing system provided by the embodiment of the present application is shown in the figure. Figure 2 The grid type storage cabin partial structure schematic diagram (bottom view) of the deep-sea polymetallic nodule automatic picking and storing system provided by the embodiment of the present application is shown in the figure. Figure 3 The grid type telescopic net bag and grid type baffle linkage state one (occluding the collection port) structure schematic (bottom view) of the deep-sea polymetallic nodule automatic picking and storing system provided by the embodiment of the present application is shown in the figure. Figure 4 The collection port partial structure schematic diagram of the deep-sea polymetallic nodule automatic picking and storing system provided by the embodiment of the present application is shown in the figure. Figure 5 The grid type telescopic net bag and grid type baffle linkage state two (opening the collection port) structure schematic (bottom view) of the deep-sea polymetallic nodule automatic picking and storing system provided by the embodiment of the present application is shown in the figure. Figure 6 The grid type baffle partial structure schematic diagram of the deep-sea polymetallic nodule automatic picking and storing system provided by the embodiment of the present application is shown in the figure. Figure 7 The strip grid structure schematic of the deep-sea polymetallic nodule automatic picking and storing system provided by the embodiment of the present application is shown in the figure. The numbers in the figure respectively represent as follows: 1, grid type storage cabin; 2, grid type telescopic net; 3, grid type baffle; 11, collection port; 12, multi-hole plate; 13, strip grid structure; 21, three-dimensional net; 22, connecting piece; 31, comb plate; 131, grid bar; 132, grid; 211, U-shaped rod; 221, straight rod; 4, mining vehicle body. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0020] As shown in the drawings, Figures 1-6 The present application provides a deep-sea polymetallic nodule automatic picking and storage system, which comprises a grid type storage cabin 1 arranged at the bottom of a mining vehicle body 4, the bottom of the grid type storage cabin 1 is provided with a plurality of collection ports 11, and a grid type telescopic net 2 is arranged in each collection port 11; the grid type telescopic net 2 is driven by a vertical driving mechanism arranged in the mining vehicle body to ascend and descend in a direction perpendicular to the bottom of the grid type storage cabin 1; a grid type baffle 3 parallel to the bottom surface of the grid type storage cabin 1 is arranged at the bottom of the grid type storage cabin 1, and the grid type baffle 3 is driven by a horizontal driving mechanism at the bottom of the grid type storage cabin 1 to slide horizontally in a direction parallel to the grid.

[0021] The grid type telescopic net 2 can reciprocate in a direction perpendicular to the direction in which the mining vehicle body 4 travels, picks up the polymetallic nodules when it moves downward to insert into the deep sea mud, and takes out the picked polymetallic nodules from the deep sea mud when it moves upward to withdraw from the deep sea mud. The grid type baffle 3 can reciprocate in a direction parallel to the direction in which the mining vehicle body 4 travels, and the grid gaps of the grid type baffle 3 are staggered with the grid gaps of the grid type telescopic net 2, so that the grid type telescopic net 2 can move through the grid type baffle 3 in the vertical direction.

[0022] The grid type telescopic net 2 and the grid type baffle 3 are configured as follows: (1) Collection: during the period when the grid type telescopic net 2 moves downward to insert into the deep sea mud, the grid type baffle 3 blocks the collection ports 11 at the bottom of the grid type storage cabin 1 in the first station, so that the polymetallic nodules collected in the last time are limited in the grid type storage cabin 1. As shown in the drawings, Figure 3 .

[0023] (2) Back to the cabin: the grid type telescopic net bag 2 moves upward to separate the sea mud, and the grid type baffle 3 translates to the second station to open the collection port 11, so that the grid type telescopic net bag 2 can retract into the grid type storage cabin 1; During the opening of the collection port 11, a small part of the polymetallic nodules collected and accumulated in the collection port 11 will fall out again, which can be caught by the grid type telescopic net bag 2 and brought back to the grid type storage cabin 1. As shown in Figure 5 .

[0024] (3) Blocking: after the grid type telescopic net bag 2 retracts to the inside of the grid type storage cabin 1 through the collection port 11, the grid type baffle 3 reversely translates to the first station to block the collection port 11. Again, the state is restored Figure 3 .

[0025] The grid gaps of the grid type telescopic net bag 2 and the grid type baffle 3 are staggered, so that the grid type telescopic net bag 2 can move vertically through the grid type baffle 3. The grid type baffle 3 moves to the first station to block the collection port 11 before the grid type telescopic net bag 2 moves down, and moves to the second station to open the collection port 11 when the grid type telescopic net bag 2 returns, so as to pick up the polymetallic nodules and store them in the grid type storage cabin 1.

[0026] The present application aims to reduce the disturbance to the seabed by extending the grid type telescopic net bag 2 from the collection port 11 at the bottom of the grid type storage cabin 1 and inserting it into the deep sea mud to pick up the polymetallic nodules, and at the same time, using the linkage mechanism of the grid type baffle 3 and the grid type telescopic net bag 2, the grid type baffle 3 opens the collection port 11 when the grid type telescopic net bag 2 returns, and closes the collection port 11 before the grid type telescopic net bag 2 extends, realizing the integration of picking and storing of deep-sea polymetallic nodules.

[0027] It should be noted that the vertical drive mechanism and the horizontal drive mechanism described in the application can be realized by adapting the existing drive motor, which is not limited by the present application. For example, a centralized control mechanism is configured in the mining vehicle body, which generates drive instructions based on the linkage mechanism given above and controls the vertical drive mechanism and the horizontal drive mechanism to cooperate with the implementation of the collection operation based on the linkage timing.

[0028] Specifically: When the mining vehicle body reaches the seabed plain to start collecting polymetallic nodules, the vertical drive mechanism drives multiple grid type telescopic net bags 2 to extend from the collection port 11 at the bottom of the grid type storage cabin 1 and continuously insert into the deep seabed. After the grid type telescopic net bag 2 extrudes the polymetallic nodules in the deep sea mud, the polymetallic nodules enter its interior from the grid gap, so that when the grid type telescopic net bag 2 is driven by the vertical drive mechanism to return to the grid type storage cabin 1, the polymetallic nodules in the grid type telescopic net bag 2 are lifted from the collection port 11 into the grid type storage cabin 1.

[0029] In the process, after the grid type telescopic net bag 2 returns to send the polymetallic nodules into the grid type storage cabin 1, the horizontal driving mechanism drives the grid type baffle 3 to move to the first station to block the collection port 11, and when the grid type telescopic net bag 2 extends again to pick up the polymetallic nodules, the grid type baffle 3 prevents the polymetallic nodules from falling into the grid type telescopic net bag 2 again from the collection port 11. When the grid type telescopic net bag 2 returns to lift the polymetallic nodules, the grid type baffle 3 moves to the second station to open the collection port 11, and then the grid type telescopic net bag 2 can send the polymetallic nodules into the grid type storage cabin 1.

[0030] The grid type baffle 3 is linked with the grid type telescopic net bag 2 according to the logic, and the integration of picking and storing of the polymetallic nodules is realized. In the process, after the grid type telescopic net bag 2 picks up the polymetallic nodules into the grid type storage cabin 1 once, the mining vehicle body moves forward by one station to pick up in the next uncollected area. When the mining vehicle body moves forward, the polymetallic nodules in the grid type storage cabin 1 move backward relative to the grid type storage cabin 1 due to the resistance of seawater, so as to move away from the collection port 11, effectively avoiding the polymetallic nodules from falling into the grid type telescopic net bag 2 again from the collection port 11 when the grid type baffle 3 opens the collection port 11.

[0031] Preferably, the grid type storage cabin 1 can be divided into multiple independent spaces, and each grid type telescopic net bag 2 is located in an independent space, so as to avoid the interference between the polymetallic nodules due to the movement of the polymetallic nodules in the grid type storage cabin 1. Preferably, the collection ports 11 of different spaces are different in size, so as to realize the collection and classification of polymetallic nodules of different sizes.

[0032] Compared with the existing method for collecting polymetallic nodules, the automatic picking and storing system for polymetallic nodules integrates the collection and picking and the storage, reduces the transportation process of the nodules, can simultaneously complete the collection and storage of the deep-sea polymetallic nodules, and greatly improves the operation efficiency. In addition, the grid type structure is controlled to operate on the seabed, reduces the disturbance to the seabed, reduces the resistance of seawater to the movement of the structure, and realizes efficient and low-disturbance collection.

[0033] Based on the above embodiment, a preferred embodiment of the grid type telescopic net bag 2 is provided as follows.

[0034] As shown in Figure 3 The grid type telescopic net bag 2 includes a three-dimensional net bag 21, and the upper end of the three-dimensional net bag 21 is provided with a connecting piece 22 connected to a vertical driving mechanism arranged in the mining vehicle body, so as to drive the three-dimensional net bag 21 to move up and down.

[0035] The bottom of the three-dimensional net bag 21 is in a three-dimensional arc-shaped curved structure, and the three-dimensional net bag 21 is inserted into the deep seabed through the bottom of the arc-shaped curved structure in a progressive manner, so as to reduce the disturbance to the seabed.

[0036] In the embodiment, the bottom of the grid type telescopic net bag 2 adopts the three-dimensional arc bending structure of the three-dimensional net bag 21, so that when the grid type telescopic net bag 2 is inserted into the sea mud to pick up the polymetallic nodule, the three-dimensional arc bending structure of the three-dimensional net bag 21 can gradually increase the area of insertion, and can gradually extrude the sea mud, thereby effectively reducing the disturbance to the seabed. Moreover, the three-dimensional net bag 21 is a grid structure, and the contact area with the sea mud and seawater is small, thereby further reducing the disturbance to the seabed.

[0037] Specifically, in the picking process, in order to prevent the polymetallic nodule from falling off, the three-dimensional net bag 21 is provided with a plurality of U-shaped rods 211. Figure 3 As shown in the figure, the three-dimensional net bag 21 comprises a plurality of U-shaped rods 211, the plurality of U-shaped rods 211 are distributed in parallel and equidistantly, the diameters of the plurality of U-shaped rods 211 gradually decrease from the middle to both sides, and the centers of the arcs of the plurality of U-shaped rods 211 are coaxial.

[0038] The bending sections of the plurality of U-shaped rods 211 are arranged downward to form the bottom of the three-dimensional arc bending structure of the three-dimensional net bag 21, so as to gradually insert into the deep seabed and reduce the disturbance to the seabed.

[0039] In the embodiment, the three-dimensional net bag 21 adopts the parallel arrangement of the plurality of U-shaped rods 211, and the diameters of the plurality of U-shaped rods 211 gradually decrease from the middle to both sides, and the internal combination is in the shape of an arc-shaped bag, so that the polymetallic nodule entering the three-dimensional net bag 21 is located at the bottom of the arc-shaped bag shape when being pulled upward by the three-dimensional net bag 21 into the grid type storage cabin 1, thereby effectively avoiding the water flow fluctuation from causing the polymetallic nodule to fall off from the side of the three-dimensional net bag 21.

[0040] Of course, the three-dimensional net bag 21 needs to be connected to the movable part of the mining vehicle main body by the connecting piece 22, that is, the plurality of U-shaped rods 211 need to be connected to the movable part of the mining vehicle main body by the connecting piece 22, based on which the following preferred embodiment is provided.

[0041] As shown in the figure, the connecting piece 22 comprises a plurality of straight rods 221, the plurality of straight rods 221 are arranged in pairs, the spacing between the opposite two straight rods 221 gradually decreases from the middle to both sides, and the lower ends of the opposite two straight rods 221 are respectively connected to the two upper ends of the corresponding U-shaped rod 211. Figure 3 The bottom of the mining vehicle main body has a plurality of movable parts, and the upper ends of the plurality of straight rods 221 of each connecting piece 22 are installed on the movable parts of the mining vehicle main body, so as to drive the connecting piece 22 and the three-dimensional net bag 21 to move up and down.

[0042] Among them, the upper end of the grid type storage cabin 1 is closed by the multi-hole plate 12, and the movable part of the mining vehicle main body passes through the multi-hole plate 12 to connect the plurality of straight rods 221 of the connecting piece 22.

[0043]

[0044] ​In the embodiment, the connecting piece 22 is composed of a plurality of straight rods 221, which are connected with the end portions of the plurality of U-shaped rods 211 respectively to form a large "U"-shaped rod structure, and the plurality of straight rods 221 are directly installed on the movable portion of the mining vehicle body, that is, the movable portion of the mining vehicle body drives the U-shaped rods 211 to move up and down through the straight rods 221.

[0045] Of course, after the poly-metallic nodules are picked up into the grid-type storage cabin 1 by the three-dimensional mesh 21, it is necessary to ensure that the poly-metallic nodules in the grid-type telescopic mesh 2 can enter the grid-type storage cabin 1 for storage. Based on this, the following preferred embodiments are provided.

[0046] As shown in Figure 3 , the inner width of the U-shaped rods 211 located on both sides of the three-dimensional mesh 21 is greater than the gap between the adjacent two U-shaped rods 211, so that after the poly-metallic nodules are picked up into the grid-type storage cabin 1, they can leak out of the three-dimensional mesh 21.

[0047] And the U-shaped rods 211 are made of elastic material, and after being extruded by the poly-metallic nodules, the adjacent two U-shaped rods 211 expand outward to restore after the poly-metallic nodules are accommodated in the three-dimensional mesh 21.

[0048] In the embodiment, the inner width of the U-shaped rods 211 is greater than the gap distance between the adjacent two U-shaped rods 211, so that the poly-metallic nodules cannot fall off from the gap distance between the two U-shaped rods 211, but can move from the inner side of the U-shaped rods 211, that is, when the mining vehicle body moves, the poly-metallic nodules entering the grid-type storage cabin 1 are affected by the water resistance and move out of the grid-type telescopic mesh 2 from the inner side of the U-shaped rods 211, thereby being stored in the grid-type storage cabin 1.

[0049] In order to enable the poly-metallic nodules in the three-dimensional mesh 21 to be affected by the water resistance and enter the grid-type storage cabin 1 for storage when the mining vehicle body moves, the following preferred embodiments are provided: the structure of the grid-type telescopic mesh 2 and the grid-type baffle 3 is arranged on the side surface of the grid-type storage cabin 1 instead of the bottom surface, and is arranged on the side surface in the direction of travel of the mining vehicle body 4, the three-dimensional mesh 21 is arranged towards the direction of movement of the mining vehicle body, and the plane where the U-shaped rods 211 are located is perpendicular to the direction of movement of the mining vehicle body.

[0050] In the embodiment, the three-dimensional mesh 21 is arranged towards the direction of movement of the mining vehicle body, that is, the plane where the U-shaped rods 211 are located is perpendicular to the direction of movement of the mining vehicle body, so that when the mining vehicle body moves, the poly-metallic nodules in the three-dimensional mesh 21 are affected by the water resistance and move relative to the three-dimensional mesh 21, so that the poly-metallic nodules lag behind the three-dimensional mesh 21 and fall into the non-collection port 11 area of the grid-type storage cabin 1.

[0051] When picking up the polymetallic nodules on the seabed, the mining vehicle body needs to pick up in a stop-and-go manner. During movement, the grid storage cabin 1 generates a large resistance, which affects the endurance of the mining vehicle body. Therefore, in order to reduce the resistance of the grid storage cabin 1, as shown in Figures 1-5 the side wall and the bottom wall of the grid storage cabin 1 are both the same strip grid structure 13 (yellow grid structure in the figure), and the collection port 11 is arranged through the strip grid structure 13 at the bottom of the grid storage cabin 1.

[0052] The gap of the strip grid structure 13 is less than or equal to the gap of the grid telescopic net bag 2, and the gap of the strip grid structure 13 is equal to the gap of the grid baffle 3 (brown grid structure in the figure).

[0053] In this embodiment, the gap of the strip grid structure 13 is equal to the gap of the grid baffle 3, so that when the grid baffle 3 blocks the collection port 11, the polymetallic nodules in the grid storage cabin 1 will not leak out of the grid baffle 3. The gap of the strip grid structure 13 is less than or equal to the gap of the grid telescopic net bag 2, so that the diameter of the polymetallic nodules picked up by the grid telescopic net bag 2 is greater than the gap of the strip grid structure 13. Therefore, after the polymetallic nodules are picked up into the grid storage cabin 1, the polymetallic nodules will not leak out of the grid baffle 3.

[0054] Specifically, as shown in Figure 7 the strip grid structure 13 includes a plurality of grid bars 131, the ends of the plurality of grid bars 131 are fixed together to form a grid 132 between adjacent two grid bars 131, and the width of the grid bar 131 is greater than the width of the grid 132.

[0055] In this embodiment, by designing the width of the grid bar 131 and the width of the grid 132, the strip grid structure 13 and the grid baffle 3 have the same "small gap and large baffle", so that the grid telescopic net bag 2 capable of passing through the grid baffle 3 has "large gap and small baffle", which can not only pick up the polymetallic nodules with a diameter greater than the grid 132, but also reduce the interference of the grid telescopic net bag 2 on the seabed.

[0056] Specifically, as shown in Figure 3 the grid structure of the grid baffle 3 is parallel to the grid structure of the grid telescopic net bag 2, and the grid structure of the grid baffle 3 and the grid structure of the grid telescopic net bag 2 are staggered, and the grid structure of the grid telescopic net bag 2 can pass through the grid structure of the grid baffle 3.

[0057] In this embodiment, the grid telescopic net bag 2 and the grid baffle 3 are staggered by grid structure, so that the grid telescopic net bag 2 can pass through the grid baffle 3 without contact.

[0058] Based on the above embodiment, a preferred embodiment of the grid baffle 3 is provided as follows.

[0059] As shown in Figure 3 , Figure 5 , Figure 6 The grid baffle 3 is integrally arranged by at least two comb plates 31 connected side by side, and the width of each comb plate 31 is greater than the diameter of the collection port 11, so as to completely cover the collection port 11. The moving direction of the grid baffle 3 is perpendicular to the direction of the movement of the mining vehicle body, and when the grid baffle 3 is located at the first station, the comb plate 31 covers and blocks a plurality of collection ports 11 along the direction of the movement of the mining vehicle body, or when the grid baffle 3 is located at the second station, the comb plate 31 returns and exposes a plurality of collection ports 11, so as to simultaneously close or open a plurality of collection ports 11.

[0060] In the embodiment, one side of the comb plate 31 is closed and the other side is open, so that during the movement, the open side can be inserted between a plurality of straight rods 221 of the grid telescopic mesh bag 2, so as to realize the horizontal movement when the grid telescopic mesh bag 2 is extended from the grid storage cabin 1, that is, the movement of the comb plate 31 does not interfere with the grid telescopic mesh bag 2, and through the set linkage relationship, the movement of the comb plate 31 does not interfere with the multi-metallic nucleus in the grid telescopic mesh bag 2.

[0061] The above embodiments are only exemplary embodiments of the present application and are not used to limit the present application, and the protection scope of the present application is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements to the present application within the spirit and protection scope of the present application, and such modifications or equivalent replacements are also regarded as falling within the protection scope of the present application.

Claims

1. A deep-sea polymetallic nodule automatic picking and storage system, characterized in that: include: A grid-type storage compartment (1) is provided at the bottom of the mining vehicle body, and has a plurality of collection ports (11) at the bottom; A grid-type telescopic net bag (2) is arranged in the collection port (11) and is driven by a vertical drive mechanism arranged in the main body of the mining vehicle so as to enable reciprocating motion in a direction perpendicular to the direction of travel of the main body of the mining vehicle; When it moves downward and penetrates deep into the sea mud, it picks up polymetallic nodules, and when it moves upward and withdraws from the deep sea mud, it takes the picked-up polymetallic nodules out of the sea mud; The grille-type baffle (3) is arranged at the bottom of the grille-type storage cabin (1) and is parallel to the bottom surface thereof, and is driven by a horizontal drive mechanism arranged at the bottom of the grille-type storage cabin (1) so as to enable it to reciprocate in a direction parallel to the direction in which the mining vehicle body travels; and the grille gaps of the grille-type baffle (3) and the grille gaps of the grille-type telescopic net bag (2) are staggered with each other so that the grille-type telescopic net bag (2) can vertically penetrate the grille-type baffle (3) and move; The grille-type telescopic net bag (2) and the grille-type baffle (3) establish the following linkage: When the grid-type telescopic net bag (2) moves downward and is inserted into the sea mud, the grid-type baffle (3) blocks the collection port (11) at the bottom of the grid-type storage cabin (1) at the first working position; When the grid-type telescopic net bag (2) moves upward to extract the sea mud, the grid-type baffle (3) moves horizontally to the second working position to open the collection port (11); When the grid-type telescopic net bag (2) is retracted into the interior of the grid-type storage compartment (1) through the collection opening (11), the grid-type baffle (3) is translated in the opposite direction to the first station to block the collection opening (11).

2. The deep-sea polymetallic nodule automatic picking and storage system according to claim 1 is characterized in that: The grid-type telescopic net bag (2) comprises a three-dimensional net bag (21), the upper end of the three-dimensional net bag (21) is provided with a connecting piece (22), and the connecting piece (22) is connected to a vertical drive mechanism in the main body of the mining vehicle to drive the three-dimensional net bag (21) to move up and down; The bottom of the three-dimensional net bag (21) is a three-dimensional arc-shaped curved structure, and the three-dimensional net bag (21) is inserted into the depth of the seabed in a progressive manner through the bottom of the arc-shaped curved structure, thereby reducing disturbance to the seabed.

3. The deep-sea polymetallic nodule automatic picking and storage system according to claim 2 is characterized in that: The three-dimensional net bag (21) comprises a plurality of U-shaped rods (211), the plurality of U-shaped rods (211) are distributed in parallel and equidistantly, the diameters of the plurality of U-shaped rods (211) gradually decrease from the middle to both sides, and the arc centers of the plurality of U-shaped rods (211) are arranged coaxially. The curved sections of the plurality of U-shaped rods (211) are arranged downward to form the bottom of the three-dimensional arc-shaped curved structure of the three-dimensional net bag (21), which is gradually inserted into the depths of the seabed to reduce disturbance to the seabed.

4. The deep-sea polymetallic nodule automatic picking and storage system according to claim 3 is characterized in that: The connecting member (22) comprises a plurality of straight rods (221), the plurality of straight rods (221) are arranged in pairs, and the distance between two opposite straight rods (221) gradually decreases from the middle to the two sides, and the lower ends of the two opposite straight rods (221) are respectively connected to the two upper ends of the corresponding U-shaped rods (211); The bottom of the mining vehicle body has a plurality of movable parts, and the upper ends of the plurality of straight rods (221) of each connecting member (22) are mounted on the movable parts of the mining vehicle body to drive the connecting member (22) and the three-dimensional net bag (21) to move up and down; The upper end of the grid-type storage compartment (1) is closed by a porous plate (12), and the vertical drive mechanism of the mining vehicle body passes through the porous plate (12) to connect the plurality of straight rods (221) of the connecting member (22).

5. The deep-sea polymetallic nodule automatic picking and storage system according to claim 4 is characterized in that: The inner width of the U-shaped rods (211) located on both sides of the three-dimensional net bag (21) is greater than the gap between two adjacent U-shaped rods (211), so that after the polymetallic nodules are picked up and enter the grid-type storage cabin (1), they can leak out of the three-dimensional net bag (21); The U-shaped rods (211) are made of elastic material, so that two adjacent U-shaped rods (211) expand in shape after being squeezed by the polymetallic nodules, and recover after the polymetallic nodules are placed inside the three-dimensional net bag (21).

6. The deep-sea polymetallic nodule automatic picking and storage system according to claim 5, characterized in that: The three-dimensional net bag (21) is arranged toward the direction in which the mining vehicle travels, and the plane where the U-shaped rod (211) is located faces the direction in which the mining vehicle body travels.

7. The deep-sea polymetallic nodule automatic picking and storage system according to claim 1, characterized in that: The side walls and bottom wall of the grid-type storage compartment (1) are both formed of the same bar grid structure (13), and the collection port (11) is provided through the bar grid structure (13) at the bottom of the grid-type storage compartment (1); The gap of the bar grid structure (13) is smaller than or equal to the gap of the grille-type telescopic net bag (2), and the gap of the bar grid structure (13) is equal to the gap of the grille-type baffle (3).

8. The deep-sea polymetallic nodule automatic picking and storage system according to claim 7, characterized in that: The bar grid structure (13) comprises a plurality of bars (131), the ends of the plurality of bars (131) being fixed together to form a grid (132) between two adjacent bars (131), and the width of the bars (131) is greater than the width of the grid (132).

9. The deep-sea polymetallic nodule automatic picking and storage system according to claim 1, characterized in that: The grid structure of the grille-type baffle (3) is parallel to the grid structure of the grille-type telescopic net bag (2), and the grid structure of the grille-type baffle (3) and the grid structure of the grille-type telescopic net bag (2) are arranged in an interlaced manner, and the grid structure of the grille-type telescopic net bag (2) can move through the grid structure of the grille-type baffle (3).

10. The deep-sea polymetallic nodule automatic picking and storage system according to claim 9, characterized in that: The grille-type baffle (3) is formed by at least two comb plates (31) connected in parallel to form an integral arrangement, and the width of each comb plate (31) is greater than the diameter of the collection port (11) so as to completely cover the collection port (11); The moving direction of the grille baffle (3) is perpendicular to the moving direction of the mining vehicle body, and when the grille baffle (3) is located at a first position, the comb plate (31) covers and blocks the multiple collection ports (11) along the moving direction of the mining vehicle body, or when the grille baffle (3) is located at a second position, the comb plate (31) returns and exposes the multiple collection ports (11) to synchronously close or open the multiple collection ports (11).

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