Self-adapting seabed terrain deep-sea high-efficiency ore collecting vehicle

Abstract

The application discloses a kind of deep sea high-efficiency ore collecting vehicles of self-adapting seabed topography, including vehicle body, jet flow collection head, water supply mechanism, ore temporary storage box, rolling device and suspension mechanism, vehicle body includes frame and two track walking units.Rolling device is located in the front side of frame, including roller, excitation mechanism and roller support, roller is arranged in the inside of roller support by main shaft, excitation mechanism is arranged in the inside of roller, the rear side of roller support is movably connected with frame by suspension mechanism.Jet flow collection head is adjacent to be arranged in the front side of frame, including collection cover, suction main pipe, jet flow pipe body and high-pressure nozzle, jet flow pipe body is arranged in the upper portion of inside of collection cover, is connected with high-pressure pump arranged on vehicle body by water supply pipe group.The roller of the application compacts seabed deposit, improves carrying capacity and traction performance, avoids track subsidence, can adapt to the ups and downs of seabed surface, so that the bottom of collection cover and seabed surface always maintain effective height, and the collection efficiency is stable.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ocean mining equipment, in particular to a deep-sea efficient ore collecting vehicle self-adapting to seabed topography. BACKGROUND

[0002] Deep-sea mineral resources are generally contained in the ocean floor of 4000m-6000m, and exist in the surface layer of the sediment within 10cm with the seabed sediment. The deep-sea sediment is in a high-pressure and high-salt environment, rich in siliceous, calcareous and biological ooze, with super-high porosity ratio, super-high water content and low strength, and has a unique flocculent structure formed by the bridging between salt electrolyte cemented particles, thus showing low bearing capacity and weak traction performance in macroscopic view, which causes the track subsidence engineering problem of the ore collecting vehicle in the walking process, changes the effective jet distance of the front collecting head, and reduces the recovery rate of polymetallic nodules. Meanwhile, the seabed topography is not flat, but has a certain degree of undulation. The front collecting head and the rear vehicle body of the existing ore collecting vehicle prototype are fixedly connected, and the posture of the collecting head cannot be adjusted according to the change of the topography, so that the jet collecting range deviates far from the effective jet distance, and the expected recovery rate of polymetallic nodules cannot be achieved, which has an adverse effect on the economic benefit. Therefore, the prior art needs to be further improved and improved. SUMMARY

[0003] In view of the above problems of the prior art, the present application aims to provide a deep-sea efficient ore collecting vehicle self-adapting to seabed topography, so as to solve the problem that the posture of the ore collecting vehicle changes due to the change of seabed topography during the driving, and the posture of the collecting head cannot be adjusted according to the change of the topography because the collecting head and the rear vehicle body are fixedly connected, so that the jet collecting range deviates far from the effective jet distance, and the recovery rate is unstable and low.

[0004] In order to solve the above technical problems, the technical scheme adopted by the present application is as follows:

[0005] The deep-sea efficient ore collecting vehicle self-adapting to seabed topography comprises a vehicle body, a jet collecting head, a water supply mechanism, an ore temporary storage box, a rolling device and a suspension mechanism connected with the vehicle body, the vehicle body comprises a vehicle frame and two track walking units, the two track walking units are symmetrically arranged on the left and right sides of the vehicle frame, and the ore temporary storage box is arranged on the top of the vehicle frame.

[0006] The rolling device is located on the front side of the vehicle frame, and comprises a roller, a vibration excitation mechanism and a roller support, the roller is arranged on the inner side of the roller support through a main shaft, the vibration excitation mechanism is arranged in the roller, and the rear side of the roller support is movably connected with the front end of the vehicle frame through the suspension mechanism.

[0007] The jet flow collecting head is arranged adjacent to the front side of the frame, comprising a collecting cover, a suction main pipe, a jet flow pipe body and high pressure nozzles. The collecting cover is a shell with an open bottom. The jet flow pipe body is arranged on the inner side of the upper part of the collecting cover and is connected to the high pressure pump arranged on the vehicle body through a water supply pipe group.

[0008] The high pressure nozzles are arranged on the front and rear sides of the lower part of the jet flow pipe body in two groups. Each high pressure nozzle is communicated with the water supply pipe group through the jet flow pipe body.

[0009] The collecting cover is fixedly connected to the front side of the drum support through the suction main pipe. The rear end of the suction main pipe is connected to the ore temporary storage box through a plurality of suction hoses.

[0010] Further, the collecting cover comprises a top plate, a front side plate, a rear side plate, a left side plate and a right side plate. The top plate is a horizontally arranged square flat plate.

[0011] Each side plate is an arc-shaped curved plate. The upper side of each side plate is fixedly welded to the corresponding side edge of the top plate to form a side wall of the collecting cover.

[0012] Further, the jet flow pipe body is a rectangular annular pipe body arranged horizontally below the top plate.

[0013] The suction main pipe is a flat cavity square pipe arranged obliquely above the collecting cover. The lower end of the suction main pipe penetrates the top of the collecting cover and is located on the inner side of the jet flow pipe body.

[0014] The rear bottom of the suction main pipe is detachably fixedly connected to the drum support through a connecting piece. One end of each suction hose is connected to the upper end of the suction main pipe through a reducing pipe. The other end of each suction hose is connected to the ore temporary storage box.

[0015] Further, the water supply pipe group comprises a three-way main pipe and two three-way branch pipes. The two three-way branch pipes are symmetrically arranged on the left and right sides of the top of the collecting cover. The two water outlet ends of the three-way branch pipes penetrate the top of the collecting cover and are connected to and communicated with the front and rear sides of the jet flow pipe body.

[0016] The three-way main pipe is located between the two three-way branch pipes. The two water outlet ends of the three-way main pipe are connected to and communicated with the water inlet ends of the two three-way branch pipes. The water inlet end of the three-way main pipe is connected to the high pressure pump through a water supply hose.

[0017] Further, each group of high pressure nozzles comprises a plurality of high pressure nozzles arranged linearly and transversely in sequence. Each high pressure nozzle is fixedly installed on the bottom of the jet flow pipe body. The two groups of high pressure nozzles are arranged oppositely and obliquely.

[0018] Further, the drum support is a rectangular frame structure. The drum is a circular cylinder structure with equal cross sections and is arranged transversely on the inner side of the drum support. Each end of the drum is provided with an end plate to close the inside of the drum.

[0019] The main shaft is coaxially arranged with the roller, and both ends of the main shaft pass through the end plates and are rotationally matched with the roller support.

[0020] Further, the exciting mechanism comprises an eccentric rotor and a rolling core, the eccentric rotor is fixedly installed in the interior of the roller through the web plate and is located between the two end plates, and the eccentric rotor is sleeved on the exterior of the main shaft.

[0021] The eccentric rotor has an arc-shaped cavity with three-fourths of the circumference of the main shaft as the center, the rolling core is matched with the structure of the arc-shaped cavity and is movably arranged in the interior of the arc-shaped cavity, and under the action of gravity, the rolling core can freely rotate relative to the eccentric rotor.

[0022] Further, the suspension mechanism comprises a front mounting seat, an upper supporting arm, a lower supporting arm, a spring shock absorber and a rear mounting plate, the front mounting seat is fixed to the rear side of the roller support, and the rear mounting plate is mounted on the front side of the vehicle frame.

[0023] The upper supporting arm and the lower supporting arm are arranged in parallel one above the other, and the two ends are hingedly connected with the front mounting seat and the rear mounting plate respectively, the spring shock absorber is located above the upper supporting arm and is oppositely and obliquely arranged, one end of the spring shock absorber is hingedly connected with the middle part of the upper supporting arm, and the other end is hingedly connected with the front end of the vehicle frame.

[0024] Further, at least two high-pressure water pipes are arranged above the rear side of the roller, and all the high-pressure water pipes are transversely and sequentially arranged at the lower part of the front side of the ore temporary storage box.

[0025] The water inlet end of each high-pressure water pipe is connected with a high-pressure pump, and a jet nozzle is mounted on the water outlet end of each high-pressure water pipe, and the water outlet direction of the jet nozzle is towards the upper surface of the roller.

[0026] By adopting the above technical scheme, the jet flow collecting head of the present application is connected with the ore collecting vehicle through the rolling device and the suspension mechanism, the rolling and vibration of the roller during the rolling process can compact the seabed sediments, the compacted seabed sediments can improve the bearing capacity and the traction performance, the track of the ore collecting vehicle has good walking efficiency and safety, and the jet nozzle can greatly reduce the adhesion of the deep-sea soft soil to the roller. In addition, the roller support is movably connected with the front end of the vehicle body through the suspension mechanism, can adapt to the changes of the seabed surface, can keep the bottom of the collecting cover and the seabed surface at an effective height at all times, and can stabilize the collection efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a structural schematic view of a deep-sea high-efficiency ore collecting vehicle which is self-adaptive to the seabed terrain.

[0028] Figure 2 is Figure 1 is a structural schematic view of a part of the present application, showing the combination of the rolling device and the suspension mechanism.

[0029] Figure 3 is a right side view of a deep-sea high-efficiency mining vehicle self-adapting to seabed topography according to the present application.

[0030] Figure 4 is a structural schematic view of a roller and an internal excitation mechanism thereof. DETAILED DESCRIPTION

[0031] The present application will be described in detail below with reference to the accompanying drawings:

[0032] Embodiments, in conjunction with Figures 1 to 4 A deep-sea high-efficiency mining vehicle self-adapting to seabed topography comprises a vehicle body 1, a jet flow collecting head 2, a water supply mechanism, a temporary ore storage box 11, a rolling device 3, and a suspension mechanism 4 connectable to the vehicle body 1. The vehicle body 1 comprises a vehicle frame 12 and two crawler walking units 13 symmetrically arranged on the left and right sides of the vehicle frame 12. The crawler walking units 13 are driven to walk by a power device installed on the vehicle frame 12. The power device is an existing power device. The temporary ore storage box 11 is fixedly installed on the top of the vehicle frame 12. The temporary ore storage box 11 is connected to a surface support mother ship through a pipeline and can pump the collected ore to the surface support mother ship after crushing.

[0033] The jet flow collecting head 2 is arranged adjacent to the front side of the vehicle frame 12 and comprises a collecting cover 21, a suction main pipe 22, a jet flow pipe body 23, and a high-pressure nozzle 24. The collecting cover 21 is an open-bottomed rectangular metal shell. Specifically, the collecting cover 21 comprises a top plate, a front side plate, a rear side plate, a left side plate, and a right side plate. The top plate is a horizontally arranged square flat plate. Each side plate is an arc-shaped curved plate, and the upper side of each side plate is fixedly welded to the corresponding side of the top plate to form the side wall of the collecting cover 21. The jet flow collecting head 2 is fixedly installed on the front side of a roller support 32. The distance from the bottom of the collecting cover 21 to the seabed surface is controlled by the height and inclination angle of the roller support 32.

[0034] The rolling device 3 is located on the front side of the vehicle frame 12 and comprises a roller 31, an excitation mechanism, and a roller support 32. The roller 31 is arranged on the inner side of the roller support 32 through a main shaft 33. The excitation mechanism is arranged in the interior of the roller 31. The rear side of the roller support 32 is movably connected to the front end of the vehicle frame 12 through the suspension mechanism 4.

[0035] The roller support 32 is a rectangular frame structure. The suspension mechanism 4 comprises a front mounting seat 41, an upper supporting arm 42, a lower supporting arm 43, a spring shock absorber 44, and a rear mounting plate 45. The front mounting seat 41 is fixed to the rear side of the roller support 32. The rear mounting plate 45 is installed on the front side of the vehicle frame 12.

[0036] The upper support arm 42 and the lower support arm 43 are arranged in parallel, and the front and rear ends are hinged to the front mounting seat 41 and the rear mounting plate 45 respectively. The upper support arm 42, the lower support arm 43, the front mounting seat 41 and the rear mounting plate 45 are connected to form a parallelogram mechanism. The front end of the vehicle frame 12 is movably connected through the parallelogram mechanism. The drum support 32 maintains the same posture as the vehicle frame 12. According to the seabed topography, the drum support 32 can be adjusted in height within a certain range relative to the vehicle frame 12.

[0037] The spring shock absorber 44 is arranged above the upper support arm 42 and is inclined relative to the upper support arm 42. One end of the spring shock absorber 44 is hinged to the middle of the upper support arm 42, and the other end is hinged to the front end of the vehicle frame 12. The spring shock absorber 44 cooperates with the upper support arm 42 and the lower support arm 43. The vehicle frame 12 of the mining vehicle drives the drum support 32 and the drum 31 to move forward and backward through the suspension mechanism 4.

[0038] The drum 31 is a cylindrical structure with equal cross sections and is arranged transversely inside the drum support 32. Two end plates 34 are arranged at the two ends of the drum 31 respectively, and the end plates 34 close the inside of the drum 31. The main shaft 33 is coaxially arranged with the drum 31. The two ends of the main shaft 33 pass through the end plates 34 and are rotatably connected with the drum support 32. The drum 31 rotates relative to the drum support 32 through the main shaft 33 and rolls on the seabed surface under the driving action of the drum support 32. The drum 31 can compact seabed sediments, improve the bearing capacity of soft soil and the traction performance of the track, and greatly improve the walking efficiency and safety of the rear track.

[0039] The excitation mechanism includes an eccentric rotor 51 and a rolling core 52. The eccentric rotor 51 is fixedly installed inside the drum 31 through the spoke 35 and is located between the two end plates 34. The eccentric rotor 51 is sleeved outside the main shaft 33. The eccentric rotor 51 has a three-quarter-circumferential arc-shaped cavity 511 with the axis of the main shaft 33 as the center. The rolling core 52 is adapted to the structure of the arc-shaped cavity 511 and is movably arranged inside the arc-shaped cavity 511. Under the action of gravity, the rolling core 52 can freely rotate relative to the eccentric rotor 51. During the slow walking of the drum 31 on the seabed surface, the eccentric rotor 51 rotates together with the drum 31 relative to the drum support 32. The rolling core 52 rotates together with the eccentric rotor 51 to the highest point and then falls in the arc-shaped cavity 511 under the action of gravity and centrifugal force. The rolling core 52 impacts the seabed surface, improves the compactness of seabed sediments, and facilitates the smooth passing of the rear track.

[0040] The rear upper part of the roller 31 is provided with three high-pressure water pipes 61, all of which are fixedly installed in the front lower part of the ore temporary storage box 11 in sequence and at intervals in the transverse direction. The water inlet end of each high-pressure water pipe 61 is connected with a high-pressure pump, and a jet nozzle 62 is installed at the water outlet end of the high-pressure water pipe 61, with the water outlet direction of the jet nozzle 62 being directed towards the upper surface of the roller 31. The high-pressure water in the high-pressure water pipe 61 is quickly sprayed to the surface of the roller 31 through the jet nozzle 62, thereby washing away the adhered silt on the roller 31 and reducing the skidding.

[0041] The collecting cover 21 is fixedly connected with the front side of the roller support 32 through a suction main pipe 22, and the rear end of the suction main pipe 22 is connected with the ore temporary storage box 11 through three suction hoses 25. The suction main pipe 22 is a flat cavity square pipe, which is arranged obliquely above the collecting cover 21, and the lower end of the suction main pipe 22 penetrates through the top of the collecting cover 21 and is located inside the jet pipe body 23.

[0042] The rear bottom of the suction main pipe 22 is detachably fixedly connected with the roller support 32 through a connecting piece 26, one end of each suction hose 25 is connected with the upper end of the suction main pipe 22 through a reducing pipe, and the other end is connected with the ore temporary storage box 11.

[0043] The jet pipe body 23 is arranged at the upper part inside the collecting cover 21 and is connected with the high-pressure pump arranged on the vehicle body 1 through a water supply pipe group. The jet pipe body 23 is a rectangular annular pipe body, which is arranged horizontally below the top plate. The high-pressure nozzles 24 are arranged in two groups and oppositely arranged on the front and rear sides below the jet pipe body 23, and each high-pressure nozzle 24 is communicated with the water supply pipe group through the jet pipe body 23.

[0044] Specifically, each group of high-pressure nozzles 24 includes a plurality of high-pressure nozzles 24 arranged in sequence and at intervals in a linear transverse direction, each high-pressure nozzle 24 is fixedly installed at the bottom of the jet pipe body 23, and the two groups of high-pressure nozzles 24 are oppositely and obliquely arranged. During the travel of the vehicle body 1 with the jet collecting head 2, each group of high-pressure nozzles 24 performs jetting on the metal nuclei half-buried in the seabed sediments, so that the metal nuclei are separated from the seabed and are in a suspended state, and then enter the ore temporary storage box 11 through the suction main pipe 22 and the suction hoses 25.

[0045] The water supply pipe group includes a three-way main pipe 71 and two three-way branch pipes 72, the two three-way branch pipes 72 are symmetrically arranged on the left and right sides of the top of the collecting cover 21, and the two water outlet ends of the three-way branch pipes 72 penetrate through the top of the collecting cover 21 and are connected and communicated with the front and rear sides of the jet pipe body 23, respectively. The three-way main pipe 71 is located between the two three-way branch pipes 72, the two water outlet ends of the three-way main pipe 71 are connected and communicated with the water inlet ends of the two three-way branch pipes 72, respectively, and the water inlet end of the three-way main pipe 71 is connected and communicated with the high-pressure pump through a water supply hose.

[0046] After the ore collecting vehicle enters the collecting operation area, the vehicle body 1 drives the roller 31 to roll on the seabed ground through the roller support 32, and the roller 31 compacts the seabed sediment below during the rolling process. The roller support 32 drives the jet flow collecting head 2 to advance on the seabed surface, and the bottom of the collecting cover 21 keeps a certain relative height from the seabed surface at all times, so as to keep the height of the high-pressure nozzle 24 in the collecting cover 21 at all times within the effective distance of the jet flow, and keep the jet flow collecting head 2 in high-efficiency collecting efficiency during the advancing process. When the seabed surface is encountered to be uphill or downhill, the suspension mechanism 4 can keep the roller support 32 and the vehicle body 1 to advance at the same inclination angle, the roller support 32 drives the collecting cover 21 to be raised during the uphill process, and the roller support 32 drives the collecting cover 21 to be lowered during the downhill process, and the bottom of the collecting cover 21 keeps the effective height from the seabed surface at all times, and is not affected by the ups and downs of the seabed ground, and the jet flow continuous advancing collecting mode has high seabed ore collecting efficiency.

[0047] The parts not described in the present application can be realized by using or referring to the existing technology.

[0048] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0049] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0050] Of course, the above description is not a limitation of the present application, and the present application is not limited to the above examples, and the changes, modifications, additions or replacements made by the person skilled in the art within the essential scope of the present application should also belong to the protection scope of the present application.

Claims

1. A deep sea high efficiency mass hauler that self-adapts to seabed topography, characterized by, The ore temporary storage box is arranged on the top of the frame, and the ore temporary storage box is connected with the suspension mechanism. The rolling device is arranged on the front side of the frame, and the rolling device comprises a roller, a vibration excitation mechanism and a roller support. The roller is arranged on the inner side of the roller support through a main shaft, and the vibration excitation mechanism is arranged in the roller. The rear side of the roller support is movably connected with the front end of the frame through the suspension mechanism. The jet flow collecting head is arranged on the front side of the frame, and the jet flow collecting head comprises a collecting cover, a suction main pipe, a jet flow pipe body and high-pressure nozzles. The collecting cover is a shell with an open bottom, the jet flow pipe body is arranged on the upper side of the inner side of the collecting cover, and the jet flow pipe body is connected with a high-pressure pump arranged on the vehicle body through a water supply pipe group. The high-pressure nozzles are arranged on the front and rear sides below the jet flow pipe body. Each high-pressure nozzle is communicated with the water supply pipe group through the jet flow pipe body. The collecting cover is fixedly connected with the front side of the roller support through the suction main pipe. The rear end of the suction main pipe is connected with the ore temporary storage box through a plurality of suction hoses. The roller support is a rectangular frame structure, the roller is a cylindrical structure with an equal cross section, and the roller is arranged in a transverse manner on the inner side of the roller support.

2. A self-adapting seabed topography deep-sea high-efficiency ore collecting vehicle according to claim 1, characterized in that, Two end plates are arranged at the two ends of the roller respectively, and the end plates close the interior of the roller. The main shaft is coaxially arranged with the roller, and the two ends of the main shaft are rotatably connected with the roller support through the end plates.

3. A self-adapting seabed topography deep-sea high-efficiency gathering vehicle according to claim 2, characterized in that, The vibration excitation mechanism comprises an eccentric rotor and a rolling core. The eccentric rotor is fixedly arranged in the interior of the roller through a web plate and located between the two end plates. The eccentric rotor is sleeved on the outer side of the main shaft. The eccentric rotor has an arc-shaped cavity with three-fourths of a circle as a center with respect to the axis of the main shaft. The rolling core is matched with the arc-shaped cavity in structure and movably arranged in the arc-shaped cavity. Under the action of gravity, the rolling core can freely rotate relative to the eccentric rotor. The suspension mechanism comprises a front mounting seat, an upper supporting arm, a lower supporting arm, a spring shock absorber and a rear mounting plate. The front mounting seat is fixedly arranged on the rear side of the roller support, and the rear mounting plate is arranged on the front side of the frame. The upper supporting arm and the lower supporting arm are arranged in parallel in a top-and-bottom manner. The spring shock absorber is arranged above the upper supporting arm in an opposite and inclined manner. One end of the spring shock absorber is hingedly connected with the middle part of the upper supporting arm, and the other end is hingedly connected with the front end of the frame. The collecting cover comprises a top plate, a front side plate, a rear side plate, a left side plate and a right side plate. The top plate is a square flat plate arranged in a horizontal manner. Each side plate is an arc-shaped curved plate. The two ends of each side plate are sequentially connected in a head-to-tail manner to form the side wall of the collecting cover. The jet flow pipe body is a rectangular annular pipe body arranged in a horizontal manner below the top plate. The suction main pipe is a flat cavity square pipe arranged in an inclined manner above the collecting cover. The lower end of the suction main pipe passes through the top of the collecting cover and is located on the inner side of the jet flow pipe body. The rear bottom of the suction main pipe is detachably fixedly connected with the roller support through a connecting piece. One end of each suction hose is connected with the upper end of the suction main pipe through a variable-diameter pipe, and the other end is connected with the ore temporary storage box.

4. A self-adapting seabed topography deep-sea high-efficiency gathering vehicle according to claim 2, characterized in that, The water supply pipe group comprises a three-way main pipe and two three-way branch pipes, the two three-way branch pipes are symmetrically arranged on the left and right sides of the top of the collecting cover, and the two water outlet ends of the three-way branch pipes are respectively connected and communicated with the front and rear sides of the jet pipe body through the top of the collecting cover; The three-way main pipe is located between the two three-way branch pipes, the two water outlet ends of the three-way main pipe are respectively connected and communicated with the water inlet ends of the two three-way branch pipes, and the water inlet end is connected with the high-pressure pump through the water supply hose.

5. A self-adapting seabed topography deep-sea high-efficiency mass mining vehicle according to claim 3, characterized in that, Each group of high-pressure nozzles comprises a plurality of high-pressure nozzles arranged in a linear transverse direction, each high-pressure nozzle is fixedly installed on the bottom of the jet pipe body, and the two groups of high-pressure nozzles are oppositely inclined.

6. A self-adapting seabed topography deep-sea high-efficiency gathering vehicle according to claim 1, characterized in that, At least two high-pressure water pipes are arranged on the upper rear side of the roller, and all the high-pressure water pipes are arranged in a transverse direction on the lower front side of the ore temporary storage box. The water inlet end of each high-pressure water pipe is connected with the high-pressure pump, and a jet nozzle is installed on the water outlet end, and the water outlet direction of the jet nozzle is towards the upper surface of the roller.

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