Jet attitude self-adjusting hydraulic ore collecting head and ore collecting method based on Coanda effect

Abstract

The present invention relates to a hydraulic ore-collecting head with jet attitude self-adjustment based on Coanda effect, comprising an ore-collecting cavity with a herringbone-shaped cross section, a pair of curved walls at the upper part of the ore-collecting cavity, the curved walls are divided into two curved units, and the two curved units are connected by a flexible connection layer in the middle; the two curved units are connected by at least one hydraulic cylinder, and the curvature of the curved wall at the lower part can be adjusted by telescoping the hydraulic cylinder; the jet cylinder is connected to a water supply pipeline; the axial end of the jet cylinder is fixed to a swing mechanism through a connecting rod, and the swing mechanism can drive the jet cylinder to swing slightly, so that the direction of the nozzle is adapted to the entrance of the ore-collecting cavity. The jet angle attitude of the present invention can be adjusted according to the physical properties of the sediment mineral material and the changes in the working condition parameters. The curvature of the front and rear curved walls is adjustable, so that the velocity and pressure distribution in the ore-collecting flow field can be adjusted and optimized within a certain range.

Description

Technical Field

[0001] The invention relates to an ore collecting head for collecting seabed ore, in particular to a hydraulic ore collecting head with jet attitude self-adjustment based on Coanda effect. Background Art

[0002] Deep-sea mining technology is a technology that develops and utilizes metal mineral resources that are hidden in the ocean and distributed on the seabed at depths of 4,000 meters or above.

[0003] The current deep-sea mining system is mainly composed of three parts: a surface support mother ship, a hydraulic lifting relay cabin, and a submarine ore collection vehicle. The submarine ore collection vehicle is the core of the entire system and the main design difficulty. In the existing submarine ore collection vehicle system, three main ore collection methods are used: mechanical, hydraulic, and composite. Since the mechanical ore collection method uses mechanical parts to directly shovel minerals from the seabed, it causes great disturbance to the seabed. Therefore, the mainstream ore collection vehicle's ore collection head basically uses a hydraulic ore collection method. The current hydraulic ore collection methods mainly include double-drain jet flushing and collection based on the Coanda effect. The former uses a high-speed water jet to flush the seabed, thereby flushing and collecting the ore. This method will also cause a large disturbance to the seabed and cause a certain degree of damage to the fragile ecological environment of the seabed; while the Coanda effect, as a method of using the low-pressure area near the wall of the ore collection head to collect ore particles relatively gently without directly flushing the seabed surface, has unparalleled advantages over other mining methods. This method uses the Coanda effect, that is, the wall-adhering jet has a tendency to move along the convex surface wall. By applying a water jet to the convex surface wall, a low-pressure area is formed, and the pressure difference is used to generate a lifting force to collect the ore. Although the concept of a ore collecting head based on the Coanda effect was proposed a long time ago and has been verified to be feasible through sea trials, the current ore collecting heads designed based on the Coanda effect principle still have some shortcomings in actual operations due to the lack of sufficient consideration of the seabed environment and changes in specific working parameters.

[0004] The existing ore collecting heads have the following disadvantages:

[0005] 1) The height of the existing ore collecting head from the bottom (the distance between the bottom of the ore collecting head and the seabed surface) is actively adjusted, and there is a certain delay in adjusting the height of the ore collecting head from the bottom through the hydraulic mechanism. During the movement of the ore collecting vehicle, the vehicle body is long, and a slight longitudinal tilt will cause a large change in the height of the ore collecting head from the bottom, and the seabed terrain also has certain ups and downs. It is difficult for the existing technology to meet the requirement that the ore collecting head is always close to the seabed surface during movement. Related studies have shown that the height of the ore collecting head from the bottom will have a significant impact on the collection rate of ore particles and the disturbance of sediments on the seabed surface;

[0006] 2) In the existing mining head scheme based on Coanda effect, a single curved surface structure is generally adopted, and the collection rate is insufficient;

[0007] 3) In the existing Coanda effect-based ore collecting head solution, the jet nozzle is fixed on the ore collecting head, and the jet angle is fixed, which cannot be adaptively adjusted according to the changes in working parameters. This easily induces hidden dangers such as excessive disturbance of the seabed during the hydraulic collection process and low collection rate;

[0008] 4) In the existing ore collecting head solution, the curvature radius of the curved wall cannot be adjusted, which makes it impossible to adapt the shape of the ore collecting head according to the working parameters, so that the ore collecting efficiency and benefits cannot be maximized.

[0009] The present invention adopts the following technical solutions:

[0010] A hydraulic ore-collecting head with jet attitude self-adjustment based on Coanda effect, comprising an ore-collecting cavity with a herringbone cross-section, the upper part of the ore-collecting cavity being a pair of curved walls 7, the curved wall 7 being divided into two curved units, the two curved units being connected by a flexible connecting layer 6 in the middle; the two curved units being connected by at least one hydraulic cylinder 5, and the curvature of the curved wall at the lower part can be adjusted by telescoping the hydraulic cylinder 5; an injection cylinder is arranged at each end of the herringbone ore-collecting cavity, the injection cylinder being provided with a strip-shaped or strip-shaped nozzle corresponding to the entrance of the ore-collecting cavity; the injection cylinder is connected to a water supply pipeline; the axial end of the injection cylinder is fixed to a swing mechanism by a connecting rod, the swing mechanism can drive the injection cylinder to swing slightly, so that the direction of the nozzle is adapted to the entrance of the ore-collecting cavity.

[0011] Preferably, the swing mechanism includes a hydraulic rotating mechanism 8, and the hydraulic rotating mechanism 8 drives a bevel gear 8a to rotate through its output shaft, and drives a gear 8b to rotate through the bevel gear 8a, and the connecting rod is relatively fixed to the gear 8b.

[0012] Furthermore, a pair of hydraulic rotating mechanisms 8 are arranged at the front and rear sides of the ore collecting cavity, respectively controlling the swing of the injection cylinder on one side, and respective oil pipes and signal lines extend upward along the front and rear sides of the ore collecting cavity.

[0013] Furthermore, the curved wall 7 at the upper part and the ore collecting equipment body are relatively fixed.

[0014] Preferably, it also includes a mud sled 4, which is located below the ore collecting cavity and connected to the ore collecting cavity through the shock absorbing device 3.

[0015] Furthermore, the shock absorbing device 3 is an active shock absorbing adjustment device and a passive shock absorbing adjustment device which are adjustable at multiple points along the length direction of the mud sled 4; the active shock absorbing adjustment device is a rigid telescopic component, which adjusts the distance between the upper end of the mud sled 4 and the lower surface of the ore collecting cavity at the point by telescoping; it can be locked after telescoping adjustment; the passive shock absorbing adjustment device is a spring assembly, which adjusts the supporting force of the ore collecting cavity at the point by elastic telescoping; after the active shock absorbing adjustment device, the ore collecting head enters the passive adjustment mode, so that the ore collecting head can dynamically and real-time stick to the seabed surface during the movement, and adapt to the changes in the seabed terrain.

[0016] Furthermore, the mud sled plates 4 are provided in pair and are arranged below the left and right sides of the ore collecting cavity.

[0017] Furthermore, the spray cylinder is in the shape of a horizontal cylinder; the front end of the mud sled 4 is conical.

[0018] A hydraulic ore collection method with self-adjusting jet attitude based on Coanda effect adopts the above-mentioned hydraulic ore collection head with self-adjusting jet attitude; when the ocean current in the seabed mining area is small, the ecological preservation requirements are relatively low and the ore particles are buried deep, the ore particle collection rate is increased by increasing the angle between the front and rear jet nozzles and the horizontal line and the curvature of the curved surface wall; when the ocean current in the mining area is large, the seabed ecological preservation requirements are high, the ore particle burial depth is low, and the sediments on the seabed surface are soft and easy to spread, the jet angle between the front and rear nozzles and the horizontal line and the curvature of the curved surface wall are reduced to reduce the disturbance near the seabed while ensuring the collection rate.

[0019] Preferably, the height of the ore collecting head from the bottom is adjusted actively and passively in sequence through a shock absorbing device with adjustable support height: the height of the ore collecting head from the bottom during operation is actively adjusted through the active shock absorbing adjustment device; and the passive shock absorbing adjustment device is used to implement passive adjustment after the active shock absorbing adjustment device is locked.

[0020] The beneficial effects of the present invention are:

[0021] 1) The herringbone double-sided curved wall jet design of the ore collecting head suction port: the front and rear nozzles on both sides of the suction port are tangent to a curved wall for generating surface jets. The generated two-way counter-attacking near-wall jets can significantly increase the collection rate, making it easier for ore particles to be lifted and collected. Since the ore-collecting flow field generated by the Coanda effect has the particularity of high velocity near the wall and low velocity far from the wall, the ore-collecting head will have the following two advantages during the collection process: a) Selective collection of ore particles of different sizes can be achieved by controlling the height of the ore-collecting head from the bottom, the jet flow rate and the curvature of the front and rear curved walls. Particles with larger particle sizes often have higher collection efficiency costs, and in the ore-collecting flow field based on the Coanda effect, large-size ore particles will be collected at a smaller ore-collecting jet flow rate; b) Compared with ore particles, the fine sediment particles on the seabed surface are farther away from the curved wall with a larger flow velocity distribution. According to the characteristic of the rapid decay of the flow velocity along the vertical downward direction in the ore-collecting flow field due to the Coanda effect, the ratio of the flow velocity near the seabed surface on the far wall to the jet flow velocity is very small. After selectively collecting larger-sized mineral particles (i.e. reducing the jet flow rate to a certain extent and giving up collecting small-sized mineral particles with low collection efficiency and cost by increasing the flow rate), the significant reduction in the jet flow rate will further reduce the disturbance of fine sediment particles on the seabed surface and minimize the diffusion of sediment during the collection process;

[0022] 2) The jet angle and posture can be adjusted according to the physical properties of the sediment mineral materials and the changes in the working parameters. The curvature of the front and rear curved walls is adjustable, so that the velocity and pressure distribution in the ore-collecting flow field can be adjusted and optimized within a certain range, thereby realizing refined mining operations and achieving high collection rate and low disturbance collection. When the ocean currents in the seabed mining area are small, the requirements for ecological preservation are relatively low, and the ore particles are buried deep, the ore particle collection rate can be increased by increasing the angle between the front and rear nozzles and the horizontal line and the curvature of the curved wall. When the mining area is located in a location where the ocean currents are large and the requirements for seabed ecological preservation are high, the ore particles are buried at a low depth, and the sediments on the seabed surface are soft and easy to spread, the angle between the front and rear jet nozzles and the horizontal line and the curvature of the curved wall can be appropriately reduced to minimize the disturbance near the seabed while ensuring a certain collection rate.

[0023] 3) The "herringbone" structure with curved walls arranged at the front and rear of the hydraulic ore collecting pipe is adopted to form two rows of jets at the front and rear, which can significantly improve the ore collection efficiency of the ore collecting head. The specific principle is as follows: Compared with the ore collecting head with only one side of the wall jet, the advantage of the front and rear rows of wall jets is that (a) it can effectively prevent the ore particles from passing through the ore collecting head quickly under the action of a large horizontal speed and their own inertia, and the vertical force acting on them in the ore collecting flow field is too short and cannot be collected. The rear jet can reduce the horizontal movement speed of the mineral particles and increase the time that the mineral particles stay in the ore-collecting flow field based on the Coanda effect, so that the vertical force time of the mineral particles is increased, and a larger vertical momentum is obtained, thereby increasing the probability of the mineral particles to produce vertical movement; (b) The reverse water jet provided by the rear jet nozzle can cause the mineral particles to deflect upward and enter the ore-collecting pipe. Compared with the single adsorption of the Coanda effect to lift the mineral particles, the arrangement of the rear jet can significantly increase the unit energy consumption of the ore-collecting head, thereby significantly improving the cost-effectiveness of ore particle collection.

[0024] 4) The design of the spring and the mud sled enables the height of the ore collecting head from the bottom to be adjusted actively and passively through the shock absorbing device with adjustable support height: ① Through active adjustment, the height of the ore collecting head from the bottom during operation is within the optimal range of balance between operation safety, collection rate, and environmental disturbance; ② After locking the height adjustment module of the shock absorbing device, the ore collecting head enters the passive adjustment mode, so that the ore collecting head can be dynamically and real-time attached to the seabed surface during the movement, and adapt to the changes in the seabed terrain. In this way, the ore collecting height is controlled to change slowly within a very small range, which can prevent the generation of large-scale vortex areas in the ore collecting flow field that reduce the ore collection rate caused by the rapid change of the ore collecting head height, while stable ore collecting performance and collection rate require a stable flow field. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a stereoscopic diagram of a hydraulic ore collecting head with self-adjusting jet posture based on Coanda effect of the present invention.

[0026] Figure 2 It is a side view of the hydraulic ore collecting head with self-adjusting jet posture based on Coanda effect of the present invention.

[0027] Figure 3 It is a top view of the hydraulic ore collecting head with self-adjusting jet posture based on the Coanda effect of the present invention.

[0028] Figure 4 It is a front view of the hydraulic ore collecting head with self-adjusting jet posture based on Coanda effect of the present invention.

[0029] Figure 5 It is a schematic diagram of a smaller jet angle and a smaller curvature wall.

[0030] Figure 6This is a schematic diagram for medium jet angle and small curvature wall.

[0031] Figure 7 It is a schematic diagram for a larger jet angle and a larger curvature wall.

[0032] In the figure, 1. rear injection cylinder, 2. rear end water supply pipeline, 3. shock absorbing device, 4. mud sled, 5. hydraulic cylinder, 6. flexible connection layer, 7. curved wall, 8. hydraulic rotating mechanism, 9. front end water supply pipeline, 10. front injection cylinder, 8a. bevel gear, 8b. gear. DETAILED DESCRIPTION

[0033] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0034] See also Figure 1-Figure 4 A hydraulic ore-collecting head with jet attitude self-adjustment based on Coanda effect, comprising an ore-collecting cavity with a herringbone cross-section, a pair of curved walls 7 at the upper part of the ore-collecting cavity, the curved wall 7 is divided into two curved units, and the two curved units are connected by a flexible connecting layer 6 in the middle; the two curved units are connected by at least one hydraulic cylinder 5, and the curvature of the curved wall located at the lower part can be adjusted by the extension and contraction of the hydraulic cylinder 5; an injection cylinder is arranged at each end of the herringbone ore-collecting cavity, and a nozzle in a long strip shape or a long strip arrangement corresponding to the entrance of the ore-collecting cavity is provided on the injection cylinder; the injection cylinder is connected to a water supply pipeline; the axial end of the injection cylinder is fixed to a swing mechanism through a connecting rod, and the swing mechanism can drive the injection cylinder to swing slightly, so that the direction of the nozzle is adapted to the entrance of the ore-collecting cavity.

[0035] See also Figure 1 The swing mechanism includes a hydraulic rotating mechanism 8, which drives a bevel gear 8a to rotate through its output shaft, and drives a gear 8b to rotate through the bevel gear 8a, and the connecting rod is relatively fixed to the gear 8b.

[0036] See also Figure 1 A pair of hydraulic rotating mechanisms 8 are arranged at the front and rear sides of the ore collecting cavity, respectively controlling the swing of the injection cylinder on one side, and the respective oil pipes and signal lines extend upward along the front and rear sides of the ore collecting cavity.

[0037] In this embodiment, the curved wall 7 located at the upper part and the ore collecting equipment body are relatively fixed.

[0038] In this embodiment, see Figure 1 , and also includes a mud sled 4, which is located below the ore collecting cavity and is connected to the ore collecting cavity through a shock absorbing device 3.

[0039] In this embodiment, the shock absorbing device 3 is an active shock absorbing adjustment device and a passive shock absorbing adjustment device which are adjustable at multiple points along the length direction of the mud sled 4; the active shock absorbing adjustment device is a rigid telescopic component, which adjusts the distance between the upper end of the mud sled 4 and the lower surface of the ore collecting cavity at the point by telescoping; it can be locked after telescoping adjustment; the passive shock absorbing adjustment device is a spring assembly, which adjusts the supporting force of the ore collecting cavity at the point by elastic telescoping; after the active shock absorbing adjustment device, the ore collecting head enters the passive adjustment mode, so that the ore collecting head can dynamically and real-time stick to the seabed surface during the movement, and adapt to the changes in the seabed terrain.

[0040] In this embodiment, see Figure 3 The mud sled plates 4 have a pair and are arranged below the left and right sides of the ore collecting cavity.

[0041] See also Figure 1 The spray cylinder is in the shape of a horizontal cylinder; the front end of the mud sled 4 is conical.

[0042] A hydraulic ore collection method with self-adjusting jet attitude based on Coanda effect adopts the above-mentioned hydraulic ore collection head with self-adjusting jet attitude; when the ocean current in the seabed mining area is small, the ecological preservation requirements are relatively low and the ore particles are buried deep, the ore particle collection rate is increased by increasing the angle between the front and rear nozzles and the horizontal line and the curvature of the curved surface wall; when the ocean current in the mining area is large, the seabed ecological preservation requirements are high, the ore particle burial depth is low, and the sediments on the seabed surface are soft and easy to spread, the jet angle between the front and rear nozzles and the horizontal line and the curvature of the curved surface wall are reduced to reduce the disturbance near the seabed while ensuring the collection rate.

[0043] The height of the ore collecting head from the bottom is adjusted actively and passively by a shock absorbing device with adjustable support height: the height of the ore collecting head from the bottom during operation is actively adjusted by the active shock absorbing adjustment device; after the active shock absorbing adjustment device is locked, the passive shock absorbing adjustment device implements passive adjustment.

[0044] See also Figure 5-7 The curvature of the curved wall of the ore collecting head can be adjusted in real time according to the specific working conditions and working environment. When the nodule particles are small or the sea mud is relatively soft, a small curvature mode is used to weaken the Coanda effect and prevent excessive sediment disturbance; when the particles are large and require greater lifting force, a large curvature curved wall is used to enhance the Coanda effect so that the particles can be effectively lifted and collected. The specific structural composition is as follows: Figure 1-4 shown.

[0045] This application is designed around the curved wall as the core. Figure 5-7In the process of hydraulic ore collection, the jet will flow along the lower surface of the curved wall, and the front water supply pipeline will provide flow to the front jet cylinder 10. The jet will pass through the curved wall 7 from the front jet cylinder 10 and move along the curved wall under the action of the Coanda effect. Since the flow velocity is high near the curved wall, and the flow velocity is low in the area close to the seabed of the ore collecting head, the ore is subjected to an upward lifting force under the pressure difference caused by the flow velocity difference. When the jet velocity is large enough, the lifting force generated will lift the ore particles and collect them with the flow field. This patent scheme adopts a double-sided curved wall design, which is significantly different from the existing ore collecting head design. This is to induce a two-way counter-attack zone under the ore collecting pipe. This design can effectively prevent the ore particles from rolling to the rear of the ore collecting head under the entrainment of the front nozzle jet water flow instead of being collected in the ore collecting pipe, thereby further improving the ore collection stability and ore particle collection rate. Compared with the existing technical solutions, the jet angles of the front and rear rows of jet ports of the mining head can be changed with the hydraulic rotating mechanism 8, and the curved wall can obtain different curvatures by driving the flexible connecting layer 6 through the hydraulic cylinder 5 as needed.

[0046] In order to make the ore collecting head have the ability to adapt to various working parameters (such as the shape, size, burial depth, abundance and other information of the ore particles), a mud sled 4 connected by a shock absorbing device 3 with adjustable support height is designed. In terms of adjusting the height of the ore collecting head from the bottom, the shock absorbing device 3 with adjustable support height will first be actively adjusted according to the softness of the sediment and the size of the ore particles at different mining locations, so that the height from the bottom is controlled within the range that meets the requirements of operational safety and obtains a balance between collection efficiency and environmental disturbance. After determining the optimal height from the bottom according to the physical parameters of the sediment ore particles, the device will lock the height adjustment module, and realize a small range of height change from the ground with a certain elastic stiffness of the spring itself, so that the height from the bottom of the ore collecting head can be passively changed slightly with the change of the terrain, thereby achieving the purpose of passively adapting to the dynamic adhesion to the seabed surface. Shock absorption is to make the height change between the curved wall of the ore collecting head and the seabed surface relatively gentle, so that the ore collecting flow field is relatively stable, and the large-scale vortex will not be formed due to rapid height fluctuations to reduce the collection effect of ore particles. In addition, the front end of the mud sled is a conical structure, which can prevent the mineral particles from accumulating in front of the ore collecting head or being pressed into and buried in deep sediments by the mud sled, thereby reducing the collection rate.

[0047] The rear nozzle on the rear jet drum 1 is a plane rectangular cross section, and the nozzle is fixed on a cylindrical cavity. The rear water supply pipeline 2 supplies water to the cylindrical cavity, thereby forming a plane jet. The cylindrical cavity is connected to the main body of the ore collecting head through a connecting rod, and the position and direction of the rear nozzle can be adjusted as needed; similarly, the front water supply pipeline 9 provides flow for the front nozzle on the front jet cylinder 10, and the front nozzle can adjust the position and angle under the control of the hydraulic rotating mechanism 8. The jet of the front nozzle acts on the curved wall, which is the main reason for the Coanda effect; the hydraulic cylinder 5 can adjust the stroke according to the specific working conditions, thereby adjusting the flexible connection layer 6, so that the curvature radius of the curved wall 7 is locally changed, thereby providing a larger or smaller lifting force as needed; the mud sled 4 is connected to the main body through a triple adjustable support height shock absorbing device 3, and the adjustable support height shock absorbing device 3 has a certain variable length and elastic stiffness, so that the mud sled 4 can basically remain parallel to the seabed. When the seabed terrain changes, the mud sled 4 can translate or rotate within a certain range.

[0048] In general, the present invention mainly designs a hydraulic ore collecting head with a curved wall structure based on the Coanda effect in fluid mechanics. By adjusting the height of the ore collecting head from the bottom, the curvature change of the hyperbolic wall of the ore collecting head, and the control of the ore collecting flow rate, the adaptability of the ore collecting head to changes in the ore collecting environmental parameters such as terrain, ore particle abundance, and ore particle size is enhanced. And by adopting a strategy of selective collection of larger particle sizes, the collection cost-effectiveness is significantly improved, and the disturbance of the hydraulic ore collecting process to the seabed sediment is minimized.

[0049] The above are preferred embodiments of the present invention. A person skilled in the art may make various changes or improvements on this basis. Without departing from the general concept of the present invention, these changes or improvements should fall within the scope of protection claimed by the present invention.

Claims

1. A hydraulic ore collecting head with self-adjusting jet attitude based on Coanda effect, characterized by: It comprises an ore collecting cavity with a herringbone-shaped cross section, the upper part of the ore collecting cavity is a pair of curved walls (7), the curved walls (7) are divided into two curved surface units, and the two curved surface units are connected in the middle by a flexible connecting layer (6); The two curved surface units are connected by at least one hydraulic cylinder (5), and the curvature of the curved surface wall located at the lower portion can be adjusted by extending and retracting the hydraulic cylinder (5); An injection cylinder is disposed at each end of the herringbone ore-collecting cavity, and a strip-shaped or strip-shaped nozzle corresponding to the entrance of the ore-collecting cavity is disposed on the injection cylinder; the injection cylinder is connected to a water supply pipeline; the axial end of the injection cylinder is fixed to a swing mechanism through a connecting rod, and the swing mechanism can drive the injection cylinder to swing slightly, so that the direction of the nozzle is adapted to the entrance of the ore-collecting cavity; The swing mechanism comprises a hydraulic rotating mechanism (8), wherein the hydraulic rotating mechanism (8) drives the bevel gear (8a) to rotate via its output shaft, and drives the gear (8b) to rotate via the bevel gear (8a), and the connecting rod is relatively fixed to the gear (8b); A pair of hydraulic rotating mechanisms (8) are arranged on the front and rear sides of the ore collecting cavity, respectively controlling the swing of the injection cylinder on one side, and respective oil pipes and signal lines extend upward in the direction of the front and rear sides of the ore collecting cavity; The curved wall (7) located at the upper part and the ore collecting equipment body are relatively fixed.

2. The hydraulic ore collecting head with self-adjusting jet posture based on Coanda effect as claimed in claim 1, characterized in that: It also comprises a mud sled (4), which is located below the ore collecting cavity and is connected to the ore collecting cavity via a shock absorbing device (3).

3. The hydraulic ore collecting head with self-adjusting jet posture based on Coanda effect as claimed in claim 2, characterized in that: The shock absorbing device (3) is an active shock absorbing adjustment device and a passive shock absorbing adjustment device which are arranged along the length direction of the mud sled (4) and can be adjusted at multiple points; The active shock absorbing adjustment device is a rigid telescopic component, which adjusts the distance between the upper end of the mud sled (4) at the point and the lower surface of the ore collecting cavity by telescoping; the telescopic component can be locked after telescoping adjustment; The passive damping adjustment device is a spring assembly, and the spring assembly adjusts the supporting force of the ore collecting cavity at the point by elastic expansion and contraction; After the active shock-absorbing adjustment device is locked, the ore-collecting head enters the passive adjustment mode, so that the ore-collecting head can dynamically and real-time stick to the seabed surface during movement and adapt to changes in the seabed terrain.

4. The hydraulic ore collecting head with self-adjusting jet posture based on Coanda effect as claimed in claim 3, characterized in that: The mud sled plates (4) are provided in pair and are arranged below the left and right sides of the ore collecting cavity.

5. The hydraulic ore collecting head with self-adjusting jet posture based on Coanda effect as claimed in claim 3, characterized in that: The spray cylinder is in the shape of a horizontally lying cylinder; the front end of the mud sled (4) is conical.

6. A hydraulic ore collection method with self-adjusting jet attitude based on Coanda effect, characterized in that: A hydraulic ore collecting head with self-adjusting jet posture as described in any one of claims 1 to 5; When the ocean current in the seabed mining area is small, the ecological preservation requirements are relatively low, and the mineral particles are buried deep, the ore particle collection rate can be increased by increasing the angle between the front and rear nozzles and the horizontal line and the curvature of the curved wall; When the mining area is located in an area with strong ocean currents, high requirements for seabed ecological preservation, low burial depth of ore particles, and soft and easy-to-diffuse sediments on the seabed surface, the disturbance to the seabed can be reduced while ensuring the collection rate by reducing the angle between the front and rear jet nozzles and the horizontal line and the curvature of the curved wall.

7. The hydraulic ore collection method with self-adjusting jet posture based on Coanda effect as claimed in claim 6, characterized in that: The height of the ore collecting head from the bottom is adjusted actively and passively through a shock-absorbing device with adjustable support height: Active adjustment of the active shock-absorbing adjustment device enables real-time control of the height of the ore collecting head from the bottom during operation; After the active damping adjustment device is locked, the passive damping adjustment device performs passive adjustment.

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