Self-stabilizing suspended polymetallic nodule collector

Abstract

The present invention provides a self-stabilizing suspended polymetallic nodule collector, comprising a buoyant vessel, a gravity swing arm, and a collection device. The net buoyancy F1 of the buoyant vessel in water is directed upward, generating a torque M1 around the rear end of the gravity swing arm that causes the front end of the gravity swing arm to rise. The net buoyancy F2 of the gravity swing arm in water is directed downward, generating a torque M2 around the rear end of the gravity swing arm that causes the front end of the gravity swing arm to sink. The net buoyancy F3 of the collection device in water, the sum of F1 and F2, is directed downward. The horizontal traction F4 exerted by the buoyant vessel on the gravity swing arm generates a torque M4 around the rear end of the gravity swing arm that causes the front end of the gravity swing arm to sink. The sum of M4 and M2 is equal in magnitude and opposite in direction to M1. The present invention automatically stabilizes the height of the buoyant vessel and the longitudinal inclination angle of the gravity swing arm at certain values, so that the collection device is only affected by gravity and can glide stably close to the ground as the terrain changes, thereby adapting to various seabed environments.

Description

Technical Field

[0001] The present invention relates to the technical field of marine mining, in particular to a self-stabilizing suspended polymetallic nodule collecting machine. Background Art

[0002] The deep seabed is rich in metal mineral resources, with polymetallic nodules, cobalt-rich crusts, polymetallic sulfides, and deep-sea rare earth mud currently attracting widespread attention. Mining of deep-sea metal mineral resources is a field of technology currently receiving widespread attention.

[0003] An existing Chinese patent, publication number CN1144269A, discloses a deep-sea mining vehicle comprising a support frame equipped with means for moving the vehicle on the seabed and a suction head. Because deep-sea polymetallic nodule-rich areas generally contain sparse, soft sediments, deep-sea mining vehicles suffer from large turning radii, difficulty in maneuvering, and significant disturbance of seabed sediments. Furthermore, the support frame exhibits significant vertical motion relative to the seabed, which is directly transmitted to the suction head mounted on the support frame, making precise control of the suction head's height relative to the seabed difficult.

[0004] The existing Chinese patent with publication number CN112127893A discloses a deep-sea self-propelled suspended ore-collecting machine, including a float, a collection device, and a navigation and control system; the float is configured as a self-propelled submersible; a collection device is provided below the float, and a navigation and control system for navigating and controlling the float and the collection device is provided on the float. In this solution, the collection device and the seabed are not in contact during operation, and theoretically, the disturbance to the seabed sediment is small. However, since the vertical movement amplitude of the float is also large, and this movement amplitude is also directly transmitted to the collection device, it is more difficult to accurately control the height of the collection device relative to the seabed. In addition, in order to reduce the vertical movement amplitude of the float, it is necessary to always use the vertical thruster for adjustment, which will also cause power loss.

[0005] The solution provided by this patent overcomes the above difficulties. The buoyant vehicle is suspended in the seawater and sails, and the ore-collecting device moves by lightly touching the seabed. The buoyant vehicle and the ore-collecting device are connected by a gravity balance device, which causes little disturbance to the seabed sediments. The vertical movement of the buoyant vehicle and the vertical movement of the ore-collecting device are effectively isolated, making it easy to accurately control the height of the ore-collecting head relative to the seabed. In addition, by setting up a gravity balance device, the ore-collecting machine can automatically reach a stable state of torque balance during operation, and there is no need to always turn on the vertical thruster to control the height of the buoyant vehicle, thereby reducing power consumption and improving work efficiency. Summary of the Invention

[0006] In view of the defects in the prior art, the object of the present invention is to provide a self-stabilizing suspended polymetallic nodule collection machine.

[0007] According to the present invention, a self-stabilizing suspended polymetallic nodule collector is provided, comprising: a buoyant navigation body, a gravity balance device and a collection device, wherein the front portion of the gravity balance device is installed inside the buoyant navigation body, the front portion of the gravity balance device has the freedom to swing up and down and rotate, the rear portion of the gravity balance device is connected to the collection device, the rear portion of the gravity balance device has the freedom to swing up and down, the front endpoint of the gravity balance device is in front of and above the rear endpoint; the net buoyancy is the sum vector of the buoyancy and the gravity, the net buoyancy F1 of the buoyant navigation body in the water is upward, and the torque M1 generated by it around the rear endpoint of the gravity balance device causes the front endpoint of the gravity balance device to rise; the net buoyancy F2 of the gravity balance device in the water is downward, and the torque M2 generated by it around the rear endpoint of the gravity balance device causes the front endpoint of the gravity balance device to Sinking, the absolute value of the net buoyancy F1 is less than the absolute value of the net buoyancy F2, and the absolute value of the moment M1 is greater than the absolute value of the moment M2; the net buoyancy F3 of the ore collecting device in the water and the sum vector of F1 and F2 are downward; when the ore collecting operation is in progress, the buoyant navigation body is suspended in the seawater, and the buoyant navigation body pulls the gravity balance device and the ore collecting device horizontally forward. The horizontal traction F4 of the buoyant navigation body on the gravity balance device generates a moment M4 around the rear end point of the gravity balance device to make the front end point of the gravity balance device sink. The sum vector of M4 and M2 is equal to M1 in magnitude and opposite in direction. The ore collecting device contacts the seabed under the action of the sum vector of F3, F1 and F2 and slides close to the ground following the terrain. The height of the buoyant navigation body above the seabed is constrained by the moment balance relationship of M4, M2 and M1, and stabilizes at a preset value according to the change in the size of F4.

[0008] Preferably, the buoyant navigation body includes a carrier platform, a suction and separation system, and a horizontal propeller group. The suction and separation system is installed inside the carrier platform, and the horizontal propeller group is installed at the tail of the carrier platform.

[0009] Preferably, the front end point of the gravity balancing device is mounted on the carrier platform.

[0010] Preferably, the gravity balance device includes a static buoyancy position adjustment device for adjusting the position of the net buoyancy F2 in the gravity balance device along the length direction, thereby adjusting the ground pressure of the ore collecting device and the height of the buoyant navigation body above the seabed.

[0011] Preferably, the static buoyancy position adjustment device includes a linear actuator, an adjustment load and a slide rail, and the position of the net buoyancy F2 is adjusted by moving the position of the adjustment load.

[0012] Preferably, the linear actuator comprises a hydraulic cylinder and the adjustment load comprises a block of buoyant material.

[0013] Preferably, the ore collecting device comprises a grounding slide and an ore collecting cavity, the ore collecting cavity is installed at the front of the grounding slide, and the bottom of the ore collecting cavity is higher than the bottom of the grounding slide.

[0014] Preferably, the ore collecting device further comprises an ore collecting cavity height adjustment mechanism for adjusting the height of the ore collecting cavity bottom relative to the bottom of the grounding skid.

[0015] Preferably, the rear endpoint of the gravity balancing device is connected to the grounding skid, and the connection point is located above and behind the centroid of the contact surface between the grounding skid and the seabed. The downward force exerted by the gravity balancing device on the grounding skid generates a torque on the centroid of the contact surface between the grounding skid and the seabed, which can cause the grounding skid to lift its head.

[0016] Preferably, the ore collecting cavity comprises a cavity structure, the front and the lower part of the front of the cavity are ore collecting openings, and the rear is an ore output opening.

[0017] Preferably, the ore output port is connected to the suction separation system via a flexible pipe.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention reduces the disturbance to the seabed sediments during the ore collecting operation through the net buoyancy design of the buoyant navigation body, the gravity balance device and the ore collecting device in the seawater and the torque design around the rear end of the gravity balance device, so that the ore collecting machine can automatically reach a stable state of torque balance during operation, so that the height of the buoyant navigation body and the longitudinal inclination angle of the gravity balance device are automatically stabilized at certain values, and will not interfere with the movement of the ore collecting device. The ore collecting device is only affected by gravity and can glide stably close to the ground as the terrain changes, thereby being able to adapt to various seabed environments and not being affected by seabed sediments, reducing the overall propulsion power consumption during ore collecting navigation and improving the working efficiency of the ore collecting machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0021] Figure 1 This is a schematic diagram of the overall structure of a self-stabilizing suspended polymetallic nodule collector mainly embodied in the present invention;

[0022] Figure 2 This is a force diagram of the gravity balancing device mainly embodied in the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the buoyancy navigation body mainly embodied in the present invention;

[0024] Figure 4 This is a structural diagram of a gravity balancing device mainly embodied in the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of the ore collecting device mainly embodied in the present invention;

[0026] Figure 6 This is a front view of the ore collecting cavity mainly embodied in the present invention;

[0027] Figure 7 It is a side view of the ore collecting cavity mainly embodied in the present invention.

[0028] As shown in the figure:

[0029]

[0030] DETAILED DESCRIPTION

[0031] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0032] like Figure 1 and 2 As shown, a self-stabilizing suspended polymetallic nodule collector provided according to the present invention includes: a buoyant navigation body 1, a gravity balance device 2 and a collection device 3, the front part of the gravity balance device 2 is installed inside the buoyant navigation body 1, the front part of the gravity balance device 2 has the freedom of up and down swinging and rotational swinging, the rear part of the gravity balance device 2 is connected to the collection device 3, the rear part of the gravity balance device 2 has the freedom of up and down swinging, and the front end point of the gravity balance device 2 is in front of and above the rear end point.

[0033] The net buoyancy is the sum vector of buoyancy and gravity. The net buoyancy F1 of the buoyant navigation body 1 in the water is upward, and the torque M1 generated by it around the rear end point of the gravity balance device 2 makes the front end point of the gravity balance device 2 rise; the net buoyancy F2 of the gravity balance device 2 in the water is downward, and the torque M2 generated by it around the rear end point of the gravity balance device 2 makes the front end point of the gravity balance device 2 sink. The absolute value of the net buoyancy F1 is less than the absolute value of the net buoyancy F2, and the absolute value of the torque M1 is greater than the absolute value of the torque M2; the net buoyancy F3 of the ore collecting device 3 in the water and the sum vector of F1 and F2 are downward; when the ore collecting operation is in progress, the buoyancy The navigation body 1 is suspended in the seawater. The buoyant navigation body 1 pulls the gravity balance device 2 and the ore collecting device 3 forward horizontally. The horizontal traction F4 of the buoyant navigation body 1 on the gravity balance device 2 generates a torque M4 around the rear end point of the gravity balance device 2, causing the front end point of the gravity balance device 2 to sink. The sum vector of M4 and M2 is equal to M1 in magnitude and opposite in direction. Under the action of the sum vector of F3, F1 and F2, the ore collecting device 3 is in slight contact with the seabed and slides close to the ground following the terrain. The height of the buoyant navigation body 1 above the seabed is constrained by the torque balance relationship of M4, M2 and M1, and is stabilized at a preset value according to the change in the size of F4.

[0034] When the ore collecting machine is operating, the buoyant navigation body 1 is suspended in the seawater, and the ore collecting device 3 is located on the seabed. The ore collecting device 3 is subjected to the friction of the seabed, and the traction force F4 provided by the buoyant navigation body 1 is used to overcome the friction of the seabed. F4 acts on the front end point of the gravity balance device 2, and the direction is horizontal and forward, and to the right in the figure. F4 generates a torque M4 around the rear end point of the gravity balance device 2 on the gravity balance device 2. This application automatically realizes the automatic balance state of M1+M2+M4=0 through the net buoyancy design of the buoyant navigation body 1, the gravity balance device 2 and the ore collecting device 3 in the seawater and the torque design around the rear end of the gravity balance device 2, that is, reaches a stable state of torque balance, so that the height of the buoyant navigation body 1 and the longitudinal inclination angle of the gravity balance device 2 are automatically stabilized at a certain value, and the ore collecting device 3 slides close to the ground following the terrain by gravity grounding.

[0035] like Figure 3 As shown, the buoyant vehicle 1 includes a carrier platform 11, a suction and separation system 12, and a horizontal propeller group 13. The suction and separation system 12 is installed inside the carrier platform 11, and the horizontal propeller group 13 is installed at the rear of the carrier platform 11. The front end of the gravity balance device 2 is connected to the carrier platform 11.

[0036] like Figure 4As shown, the gravity balance device 2 includes a static buoyancy position adjustment device 21, which is used to adjust the position of the net buoyancy F2 along the length direction of the gravity balance device 2, thereby adjusting the ground pressure ratio of the ore collecting device 3 and the height of the buoyant navigation body 1 relative to the seabed. The static buoyancy position adjustment device includes a linear actuator 211, an adjustment load 212, and a slide rail 213. The linear actuator 211 adopts a hydraulic cylinder, and the adjustment load 212 adopts a buoyant material block. The gravity balance device 2 adjusts the position of the net buoyancy F2 by moving the position of the adjustment load 212, thereby adjusting the magnitude of the torque M2 generated by F2 around the rear end point of the gravity balance device 2, and further adjusting the height of the buoyant navigation body 1 and the longitudinal inclination angle of the gravity balance device 2.

[0037] like Figure 5 As shown, the ore collection device 3 includes a grounding skid 31 and an ore collection chamber 32, which is mounted in front of the grounding skid 31. The bottom of the ore collection chamber 32 is higher than the bottom of the grounding skid 31. During operation, the grounding skid 31 always contacts the seabed, thereby protecting the ore collection chamber 32. Furthermore, the edge of the grounding skid 31 is sloped to help adapt to changes in terrain. The ore collection device 3 also includes an ore collection chamber height adjustment mechanism 33 for adjusting the height of the bottom of the ore collection chamber 32 relative to the bottom of the grounding skid 31.

[0038] The rear end of the gravity balance device 2 is connected to the grounding skid 31, and the connection point is located above and behind the centroid of the contact surface between the grounding skid 31 and the seabed. The downward force exerted by the gravity balance device 2 on the grounding skid 31 generates a torque at the centroid of the contact surface between the grounding skid 31 and the seabed, which can cause the grounding skid 31 to rise. When the gravity balance device 2 drags the grounding skid 31 to slide on the seabed, the downward force exerted by the gravity balance device 2 on the grounding skid 31 generates a torque at the centroid of the contact surface between the grounding skid 31 and the seabed, causing the grounding skid 31 to rise, thereby alleviating the tendency of the grounding skid 31 to lower its head due to the traction force of the gravity balance device 2 on the grounding skid 31, and ensuring that the grounding skid 31 slides closely against the seabed.

[0039] like Figure 6 and 7 As shown, the ore collecting chamber 32 includes a chamber structure, the front and front lower portion of which are ore collecting ports 321, and the rear portion is an ore output port 322. The ore output port 322 is connected to the suction separation system 12 via a flexible pipe.

[0040] When the ore collecting machine of the present application is operating, the height of the buoyant navigation body 1 and the longitudinal inclination angle of the gravity balance device 2 are automatically stabilized at a certain value, and will not interfere with the movement of the ore collecting device 3, so that the ore collecting device 3 is only affected by gravity and can glide stably on the ground as the terrain changes, thereby being able to adapt to various seabed environments and not being affected by seabed sediments, greatly reducing the overall propulsion power consumption during ore collecting navigation and improving the working efficiency of the ore collecting machine.

[0041] The present application realizes that the longitudinal tilt angle of the ore collecting machine and the height of the buoyant navigation body from the bottom are automatically stabilized at appropriate values ​​for the ore collecting operation during the ore collecting process, and no other additional measures for adjusting the longitudinal tilt attitude and height from the bottom of the buoyant navigation body are required, thereby reducing the power consumption of the ore collecting machine for navigation and attitude and position maintenance.

[0042] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0043] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A self-stabilizing suspended polymetallic nodule collector, characterized in that: include: A buoyant navigation body (1), a gravity balancing device (2), and a mineral collection device (3), wherein the front portion of the gravity balancing device (2) is installed inside the buoyant navigation body (1), the front portion of the gravity balancing device (2) has the freedom to swing up and down and to rotate, the rear portion of the gravity balancing device (2) is connected to the mineral collection device (3), the rear portion of the gravity balancing device (2) has the freedom to swing up and down, and the front end point of the gravity balancing device (2) is in front of and above the rear end point; The net buoyancy is the sum vector of the buoyancy and the gravity. The net buoyancy F1 of the buoyant navigation body (1) in the water is directed upward, and the torque M1 generated by the net buoyancy around the rear end point of the gravity balancing device (2) causes the front end point of the gravity balancing device (2) to rise. The net buoyancy F2 of the gravity balancing device (2) in water is directed downward, and the torque M2 generated by the torque M2 around the rear end point of the gravity balancing device (2) causes the front end point of the gravity balancing device (2) to sink, the absolute value of the net buoyancy F1 is smaller than the absolute value of the net buoyancy F2, and the absolute value of the torque M1 is greater than the absolute value of the torque M2; The net buoyancy F3 of the ore collecting device (3) in water and the sum of F1 and F2 are directed downwards; During the ore collection operation, the buoyant navigation body (1) is suspended in the seawater, and the buoyant navigation body (1) pulls the gravity balance device (2) and the ore collection device (3) to move forward horizontally. The horizontal traction force F4 exerted by the buoyant navigation body (1) on the gravity balance device (2) generates a torque M4 around the rear end point of the gravity balance device (2) to make the front end point of the gravity balance device (2) sink. The sum vector of M4 and M2 is equal to M1 in magnitude and opposite in direction. Under the action of the sum vector of F3, F1 and F2, the ore collection device (3) contacts the seabed and slides along the ground following the terrain. The height of the buoyant navigation body (1) above the seabed is constrained by the torque balance relationship of M4, M2 and M1, and is stabilized at a preset value according to the change in the size of F4.

2. The self-stabilizing suspended polymetallic nodule collector according to claim 1, characterized in that: The buoyant navigation body (1) comprises a carrier platform (11), a suction and separation system (12), and a horizontal propeller group (13); the suction and separation system (12) is installed inside the carrier platform (11), and the horizontal propeller group (13) is installed at the tail of the carrier platform (11).

3. The self-stabilizing suspended polymetallic nodule collector according to claim 2, characterized in that: The front end point of the gravity balancing device (2) is mounted on the carrier platform (11).

4. The self-stabilizing suspended polymetallic nodule collector according to claim 1, characterized in that: The gravity balance device (2) includes a static buoyancy position adjustment device (21) for adjusting the position of the net buoyancy F2 acting on the gravity balance device (2) along the length direction, thereby adjusting the ground pressure of the ore collecting device (3) and the height of the buoyant navigation body (1) relative to the seabed.

5. The self-stabilizing suspended polymetallic nodule collector according to claim 4, characterized in that: The static buoyancy position adjustment device (21) comprises a linear actuator (211), an adjustment load (212) and a slide rail (213); the gravity balancing device (2) adjusts the action position of the net buoyancy F2 by moving the position of the adjustment load (212).

6. The self-stabilizing suspended polymetallic nodule collector according to claim 2, characterized in that: The ore collecting device (3) comprises a grounding skid (31) and an ore collecting cavity (32); the ore collecting cavity (32) is installed at the front of the grounding skid (31), and the bottom of the ore collecting cavity (32) is higher than the bottom of the grounding skid (31).

7. The self-stabilizing suspended polymetallic nodule collector according to claim 6, characterized in that: The ore collecting device (3) further comprises an ore collecting cavity height adjustment mechanism (33) for adjusting the height of the bottom of the ore collecting cavity (32) relative to the bottom of the grounding skid (31).

8. The self-stabilizing suspended polymetallic nodule collector according to claim 6, characterized in that: The rear end point of the gravity balancing device (2) is connected to the grounding slide (31), and the connection point is located above and behind the centroid of the contact surface between the grounding slide (31) and the seabed. The downward pressure exerted by the gravity balancing device (2) on the grounding slide (31) generates a torque on the centroid of the contact surface between the grounding slide (31) and the seabed, which can cause the grounding slide (31) to rise.

9. The self-stabilizing suspended polymetallic nodule collector according to claim 6, characterized in that: The ore collecting cavity (32) comprises a cavity structure, the front and front lower portions of which are ore collecting openings (321), and the rear portion is an ore output opening (322).

10. The self-stabilizing suspended polymetallic nodule collector according to claim 9, characterized in that: The ore output port (322) is connected to the suction separation system (12) via a flexible pipe.

11. The self-stabilizing suspended polymetallic nodule collector according to claim 5, characterized in that: The linear actuator (211) comprises a hydraulic cylinder, and the adjustment load (212) comprises a buoyant material block.

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