A deep-sea rock-breaking robot with digging teeth

Abstract

The present invention discloses a deep-sea digging tooth rock-breaking robot, which includes a chassis, a sliding table, a moving mechanism, a digging tooth ore-crushing head and a motor I; the digging tooth ore-crushing head includes a connecting seat, a motor seat and a plurality of support shafts, the plurality of support shafts are respectively connected to the connecting seat, the plurality of support shafts are located in the same plane, a bushing is installed on each support shaft through a bearing, and the connecting seat is connected to the output shaft of the motor I; the motor seat includes a bearing seat and a plurality of motor mounting plates installed on the bearing seat, a motor II is provided on each motor mounting plate, and the output shaft of the motor II is connected to the corresponding bushing. Chute grooves are respectively provided on the opposite side surfaces of the two sliding tables; sliding blocks are respectively provided on the two side surfaces of the motor base, and the sliding blocks are inserted into the corresponding chute grooves; the two sliding tables and the motor base are connected to a lifting mechanism. The structure of the present invention is simple and the operation is reliable; moreover, the present invention drives the digging tooth ore-crushing head to rotate by a motor to realize the crushing of ores on the deep-sea seabed, and the crushing efficiency is high.

Description

Technical Field

[0001] The present invention belongs to the field of subsea operation equipment, and particularly relates to a deep-sea tooth-breaking rock-breaking robot. Background Art

[0002] There are still a large number of major natural mineral resources available in the deep ocean that humans have not reached, including manganese nodules, cobalt-rich iron, manganese, and zinc crusts, sea sand, manganese ore, and other major natural gas hydrates. The reserves of subsea natural mineral resources account for more than 75% of the total natural mineral resources on Earth at present.

[0003] Currently, the equipment for autonomous mining of mineral resources in the deep sea has not taken shape. Most of the subsea mining equipment uses a lifting pipe to extract the ore to the ground, and the ore at the bottom of the sea needs to be crushed into small pieces before it can be extracted and collected. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides a deep-sea tooth-breaking rock-breaking robot with a simple structure and high efficiency for autonomously crushing ore at the deep-sea bottom.

[0005] The technical solution adopted by the present invention is as follows: A deep-sea tooth-breaking rock-breaking robot includes a chassis, a sliding table, a moving mechanism, a tooth-breaking ore-breaking head, and a motor I; the moving mechanism is installed on the chassis, the tooth-breaking ore-breaking head includes a connecting seat, a motor seat, and a plurality of support shafts. The plurality of support shafts are respectively connected to the connecting seat, and the axis of the support shaft is perpendicular to the axis of the central hole of the connecting seat. The plurality of support shafts are located in the same plane. Each support shaft is provided with a bushing through a bearing, and multiple rows of tooth-breaking teeth are provided on the side surface of the bushing; the connecting seat is connected to the output shaft of the motor I; the motor seat includes a bearing seat and a plurality of motor mounting plates installed on the bearing seat. The number of motor mounting plates is the same as the number of support shafts. Each motor mounting plate is provided with a motor II, and the output shaft of the motor II is connected to the corresponding bushing; the bearing seat of the motor seat is installed on the output shaft of the motor I through a bearing; the motor is fixedly installed on the motor base, two sliding tables are arranged in parallel, and sliding grooves are respectively provided on the opposite side surfaces of the two sliding tables; sliding blocks are respectively provided on the two side surfaces of the motor base, and the sliding blocks are inserted into the corresponding sliding grooves; the two sliding tables and the motor base are connected to a lifting mechanism, and the lifting mechanism can drive the sliding tables to lift; the lifting mechanism is installed on the chassis;

[0006] Seven rows of tooth-breaking teeth are provided on the bushing, and each row of tooth-breaking teeth is located on the same spiral line. The sliding grooves on the sliding table are dovetail grooves, and the sliding blocks are dovetail structures that cooperate with the dovetail grooves; the motor used is a stepper motor.

[0007] In the above-mentioned deep-sea rock-breaking robot with digging teeth, a moving mechanism is provided on each side of the chassis. The moving mechanism includes idler wheels, drive wheels, steering wheels, crawlers, and a drive motor. The drive wheels and steering wheels are installed at both ends of the chassis. The idler wheels are located between the drive wheels and the steering wheels. The crawlers are wrapped around the outside of the idler wheels, drive wheels, and steering wheels. The drive motor is installed on the chassis and is connected to the drive wheels.

[0008] In the above-mentioned deep-sea rock-breaking robot with digging teeth, the lifting mechanism includes two hydraulic cylinders, a bottom plate, and two sets of connecting rod assemblies. A through hole is provided at the center of the bottom plate for the motor rotating shaft to pass through. The hydraulic cylinders and the connecting rod assemblies are installed on the bottom plate. The two sets of connecting rod assemblies are located on both sides of the bottom plate, and the two hydraulic cylinders are located at both ends of the middle part of the bottom plate. The piston rods of the two hydraulic cylinders are respectively connected to the hydraulic cylinder grooves on both sides of the motor base. The connecting rod assembly includes connecting rod I and connecting rod II. The lower end of connecting rod I is hinged to the bottom plate, the upper end of connecting rod I is hinged to the lower end of connecting rod II, and the upper end of connecting rod II is hinged to the sliding table.

[0009] The structure of the present invention is simple and reliable in operation. Moreover, the present invention uses a motor to drive the digging teeth crushing head to rotate, so as to realize the crushing of ores on the deep-sea seabed, and the crushing efficiency is high. Brief Description of the Drawings

[0010] Figure 1 is the structure diagram of the present invention.

[0011] Figure 2 is the connection structure diagram of the motor and the digging teeth crushing head of the present invention.

[0012] Figure 3 is the schematic diagram of the lifting mechanism of the present invention.

[0013] Figure 4 is the connection structure diagram of the shaft sleeve and the support shaft of the present invention.

[0014] In the figure: 1 - Motor I; 2 - Motor connecting shaft; 3 - Bolt; 4 - Motor base; 6 - Lifting mechanism; 7 - Sliding table; 8 - Hydraulic cylinder groove; 20 - Crawler; 21 - Drive wheel; 22 - Chassis; 23 - Support shaft; 26 - Digging teeth crushing head; 27 - Motor seat; 28 - Motor II; 30 - Shaft sleeve; 31 - End cover; 32 - Hydraulic cylinder; 33 - Hydraulic table base; 40 - Connecting seat; 56 - Crawler wheel box; 60 - Idler wheel; 62 - Output shaft. Detailed Embodiments

[0015] The present invention will be further described below with reference to the accompanying drawings.

[0016] As Figure 1As shown in the figure, the present invention includes a chassis 22, a sliding table 7, a moving mechanism, a pick crushing head 26 and a motor 1. A moving mechanism is respectively arranged on both sides of the chassis 22. The moving mechanism includes a supporting roller 60, a driving wheel 21, a steering wheel, a crawler 20 and a driving motor. The driving wheel 21 and the steering wheel are installed at both ends of the chassis 22. The supporting roller 60 is located between the driving wheel and the steering wheel. The crawler 20 is wound outside the supporting roller 60, the driving wheel 21 and the steering wheel. The driving motor is installed on the chassis 22 and is connected to the driving wheel 21.

[0017] As Figure 2 , 3 shown in the figure, the pick crushing head 26 includes a connecting seat 40, a motor seat 27 and four support shafts 23. One ends of the four support shafts 23 are fixedly installed on the connecting seat 40. The axis of the support shaft 23 is perpendicular to the axis of the central hole of the connecting seat 40. The four support shafts 23 are located in the same plane and are evenly arranged along the circumferential direction. A bushing 30 is installed on each support shaft 23 through a bearing, and the bushing 30 can rotate. Seven rows of picks are provided on the bushing 30; each row of picks is located on the same spiral line. The motor seat 27 includes a bearing seat and four motor mounting plates installed on the bearing seat (the number of motor mounting plates is the same as the number of support shafts). A motor II 28 is provided on each motor mounting plate. The output shaft of the motor II 28 is connected to the corresponding bushing 30 through a coupling 31; the bearing seat of the motor seat is installed on the output shaft of the motor I 1 through a bearing.

[0018] The motor I 1 is a stepper motor. The motor I 1 is fixedly installed on the motor base 4. The two sliding tables 7 are arranged in parallel. Chute grooves are respectively provided on the opposite side surfaces of the two sliding tables 7. Slide blocks are respectively provided on both side surfaces of the motor base 4, and the slide blocks are inserted into the corresponding chute grooves. The two sliding tables 7 and the motor base 4 are connected to a lifting mechanism, and the lifting mechanism can drive the sliding tables to lift; the lifting mechanism is installed on the chassis 22. The chute grooves on the sliding table 7 are dovetail grooves, and the slide blocks are dovetail structures that cooperate with the dovetail grooves. As Figure 4 shown in the figure, the lifting mechanism includes two hydraulic cylinders 32, a bottom plate 33 and two groups of connecting rod assemblies; a through hole 331 is provided at the center of the bottom plate 33 for the output shaft 62 of the motor I 1 to pass through. The hydraulic cylinders 32 and the connecting rod assemblies are installed on the bottom plate 33. The two groups of connecting rod assemblies are located on both sides of the bottom plate 33, and the two hydraulic cylinders 32 are located at both ends of the middle part of the bottom plate 33. The piston rod of the hydraulic cylinder 32 is connected to the hydraulic cylinder grooves 8 on both sides of the motor base 4. The connecting rod assembly includes a connecting rod I and a connecting rod II. The lower end of the connecting rod I is hinged to the bottom plate 33, the upper end of the connecting rod I is hinged to the lower end of the connecting rod II, and the upper end of the connecting rod II is hinged to the sliding table 7.

[0019] The specific working steps of the present invention are as follows:

[0020] (1) Lower this invention to the seabed for placement using a releaser.

[0021] (2) The moving mechanism moves so that this invention travels above the ore to be mined.

[0022] (3) The lifting mechanism acts to lower the motor base 4 downward so that the pick crushing head 26 touches the ore to be mined.

[0023] (4) Motor I 1 and motor II 28 provide power to drive the output shaft 62 to rotate, and then drive the lower pick crushing head 26 to rotate. Motor II 28 drives the sleeve 30 to rotate to crush the ore below the robot.

[0024] (5) Repeat the above steps to start the ore crushing movement of the next cycle.

Claims

1. A deep-sea rock-breaking robot with digging teeth, characterized in that: It includes a chassis, a sliding table, a moving mechanism, a pick crushing head and a motor I; the moving mechanism is installed on the chassis, and the pick crushing head includes a connecting seat, a motor seat and a plurality of support shafts. The plurality of support shafts are respectively connected to the connecting seat, the axis of the support shaft is perpendicular to the axis of the central hole of the connecting seat, the plurality of support shafts are located in the same plane, and a bushing is installed on each support shaft through a bearing. A plurality of rows of picks are provided on the side surface of the bushing; the connecting seat is connected to the output shaft of the motor I; the motor seat includes a bearing seat and a plurality of motor mounting plates installed on the bearing seat. The number of motor mounting plates is the same as the number of support shafts. A motor II is provided on each motor mounting plate, and the output shaft of the motor II is connected to the corresponding bushing; the bearing seat of the motor seat is installed on the output shaft of the motor I through a bearing; the motor is fixedly installed on the motor base, the two sliding tables are arranged in parallel, and sliding grooves are respectively provided on the opposite side surfaces of the two sliding tables; sliding blocks are respectively provided on the two side surfaces of the motor base, and the sliding blocks are inserted into the corresponding sliding grooves; the two sliding tables and the motor base are connected to a lifting mechanism, and the lifting mechanism can drive the sliding table to lift; the lifting mechanism is installed on the chassis; Seven rows of picks are provided on the bushing, and each row of picks is located on the same spiral line; the sliding groove on the sliding table is a dovetail groove, and the sliding block is a dovetail structure that matches the dovetail groove; the motor used is a stepper motor.

2. The deep-sea rock-breaking robot with digging teeth according to claim 1, characterized in that: A moving mechanism is respectively provided on both sides of the chassis. The moving mechanism includes idler wheels, a driving wheel, a steering wheel, a crawler belt and a driving motor. The driving wheel and the steering wheel are installed at both ends of the chassis, the idler wheels are located between the driving wheel and the steering wheel, the crawler belt is wound outside the idler wheels, the driving motor is installed on the chassis, and the driving motor is connected to the driving wheel.

3. The deep-sea digging-tooth rock-breaking robot according to claim 1, wherein: The lifting mechanism includes two hydraulic cylinders, a bottom plate and two groups of connecting rod assemblies; a through hole is provided at the center of the bottom plate for the motor rotating shaft to pass through; the hydraulic cylinders and the connecting rod assemblies are installed on the bottom plate, the two groups of connecting rod assemblies are located on both sides of the bottom plate, and the two hydraulic cylinders are located at both ends of the middle part of the bottom plate; the piston rods of the two hydraulic cylinders are respectively connected to the hydraulic cylinder grooves on both sides of the motor base; the connecting rod assembly includes a connecting rod I and a connecting rod II. The lower end of the connecting rod I is hinged to the bottom plate, the upper end of the connecting rod I is hinged to the lower end of the connecting rod II, and the upper end of the connecting rod II is hinged to the sliding table.

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