A suspended seabed mining vehicle

Abstract

The present application relates to a kind of suspension type seabed mining car, including frame;Propeller is arranged on the frame, for providing power;Collecting device includes collecting head, limiting device, high-pressure water jet equipment and conveying mechanism, and ore is collected by collecting head insertion seabed, high-pressure water jet equipment is arranged above collecting head, for washing and pushing the ore on collecting head, conveying mechanism is arranged at the back of collecting head, for conveying ore;Storage cabin is arranged in frame;Limiting device includes first limiting device and second limiting device, respectively arranged in the two sides of collecting head, two supports of first limiting device are respectively provided with first strain gauge and second strain gauge, two supports of second limiting device are respectively provided with third strain gauge and fourth strain gauge.The present application adjusts propeller thrust according to the strain value of first strain gauge, second strain gauge, third strain gauge and fourth strain gauge, to ensure that the contact depth of collecting head and seabed is kept in stable interval.

Description

Technical Field

[0001] This invention relates to the field of seabed mining technology, and in particular to a suspended seabed mining vehicle. Background Technology

[0002] With the increasing depletion of terrestrial mineral resources, marine resources are receiving more and more attention from countries around the world. The ocean contains abundant biological and mineral resources. However, the development of marine mineral resources faces numerous challenges, including significant seabed damage, severe environmental pollution, difficulties in coordinated control, low equipment reliability, and low extraction rates.

[0003] In existing technologies, seabed mining vehicles mainly use tracked locomotives and hydraulic extraction methods. On the one hand, these mining vehicles are relatively heavy, consume a lot of energy, and have complex systems, and on the other hand, they cause significant environmental damage.

[0004] Therefore, we propose a suspended underwater mining vehicle. Summary of the Invention

[0005] To address the shortcomings of existing production technologies, the applicant provides a suspended seabed mining vehicle that adjusts the thrust of the propeller based on the strain values ​​of the first, second, third, and fourth strain gauges, thereby ensuring that the contact depth between the mining head and the seabed remains within a stable range.

[0006] The technical solution adopted in this invention is as follows:

[0007] A suspended subsea mining vehicle includes:

[0008] frame;

[0009] The thruster, mounted on the frame, is used to provide power;

[0010] The collection device includes a collection head, a limiting device, a high-pressure water jet device, and a conveying mechanism. The collection head is inserted into the seabed to collect ore. The high-pressure water jet device is located above the collection head to clean and push the ore on the collection head. The conveying mechanism is located behind the collection head to transport the ore.

[0011] The storage bin, located within the frame, is used to store ore transported by the conveying mechanism;

[0012] Hoses are used to connect the storage bins and the relay station;

[0013] The limiting device includes a first limiting device and a second limiting device respectively set on both sides of the acquisition head. The two supports of the first limiting device are respectively equipped with a first strain gauge and a second strain gauge, and the two supports of the second limiting device are respectively equipped with a third strain gauge and a fourth strain gauge. The thrust of the thruster is adjusted according to the strain values ​​of the first strain gauge, the second strain gauge, the third strain gauge and the fourth strain gauge to ensure that the contact depth between the acquisition head and the seabed is kept within a stable range.

[0014] Its further features are:

[0015] The thrusters include vertical thrusters and forward thrusters. The vertical thrusters include a first vertical thruster, a second vertical thruster, a third vertical thruster, and a fourth vertical thruster respectively disposed at the top four corners of the frame. The forward thrusters include a first forward thruster, a second forward thruster, a third forward thruster, and a fourth forward thruster.

[0016] The frame is provided with a buoyancy plate at the top, and four through holes are provided at the four corners of the top of the buoyancy plate. The first vertical thruster, the second vertical thruster, the third vertical thruster and the fourth vertical thruster are respectively installed in one of the through holes.

[0017] The forward thrusters are positioned below the vertical thrusters and have an angle of ° with the vertical plane. The first and fourth forward thrusters advance obliquely inward, while the second and third forward thrusters advance obliquely outward.

[0018] The high-pressure water spraying equipment includes a high-pressure water pump, a high-pressure water pipe, and a high-pressure water outlet. There are two high-pressure water pumps, which are located at both ends of the high-pressure water pipe. The high-pressure water outlet is connected to the high-pressure water pipe, and there are multiple high-pressure water outlets located in the middle of the high-pressure water pipe.

[0019] The hose includes a first hose and a second hose connected by a hose connection device. The first hose is connected to the storage hopper, and the second hose is connected to the relay station.

[0020] The hose connection device includes a detachable housing, inside which are detachable first and second connecting flanges. The first and second connecting flanges are rotatable within the housing. The first hose is disposed in the second connecting flange, and the second hose is disposed in the first connecting flange to prevent the hoses from being bent and damaged.

[0021] The front end of the acquisition head is wider than its rear end, and the front end of the acquisition head gradually narrows towards the rear end to improve propulsion efficiency.

[0022] The storage hopper is equipped with a stirring and cleaning mechanism for further cleaning the ore inside the storage hopper.

[0023] The first, second, third, and fourth strain gauges are positioned with their mounting direction facing upwards.

[0024] The beneficial effects of this invention are as follows:

[0025] This invention features a compact and rational structure and is easy to operate. By adjusting the strain values ​​of the first, second, third, and fourth strain gauges, the thrust of the thruster is maintained within a stable range, ensuring that the contact depth between the data acquisition head and the seabed remains stable.

[0026] In addition, the present invention also has the following advantages:

[0027] (1) The high-pressure water spraying equipment is set above the collection head. High-pressure water is sprayed from the high-pressure outlet to flush the ore accumulated on the collection head, remove the silt on the ore, and can also push the ore to move by high-pressure water spraying, so that the ore on the collection head can be moved to the conveying mechanism.

[0028] (2) The forward thrusters have a 30° angle with the vertical plane. The first and fourth forward thrusters advance diagonally inward, while the second and third forward thrusters advance diagonally outward. The forward thrusters can also achieve lateral thrust.

[0029] (3) A stirring and cleaning mechanism is installed in the storage tank to further clean the ore in the storage tank 8.

[0030] (4) The front end of the collection head is wider than its rear end. The front end of the collection head gradually narrows towards the rear end. While ensuring the effective collection width, the size of the mining vehicle body can be reduced, the resistance can be reduced, and the propulsion efficiency can be improved. Attached Figure Description

[0031] Figure 1 This is a perspective view of the suspended mining vehicle of the present invention.

[0032] Figure 2 This is a side view of the suspended mining vehicle of the present invention.

[0033] Figure 3 This is a schematic diagram of the suspended mining vehicle of the present invention after the buoyancy plate has been removed.

[0034] Figure 4 This is a schematic diagram of the data acquisition device of the present invention.

[0035] Figure 5 This is a schematic diagram of the hose connection device of the present invention.

[0036] Figure 6 for Figure 5 The main view.

[0037] Figure 7 for Figure 6 Schematic diagram of the AA section.

[0038] Figure 8 This is a schematic diagram of the first limiting device of the present invention.

[0039] Figure 9 for Figure 8 The main view.

[0040] Figure 10 This is a schematic diagram of the high-pressure water pipe and high-pressure water pump of the present invention.

[0041] Figure 11 This is a schematic diagram of the first limiting device, the second limiting device, and the vertical thruster of the present invention.

[0042] The components include: 1. Frame; 2. Thrusters; 201. First vertical thruster; 202. Second vertical thruster; 203. Third vertical thruster; 204. Fourth vertical thruster; 205. First forward thruster; 206. Second forward thruster; 207. Third forward thruster; 208. Fourth forward thruster; 3. Data acquisition device; 301. Data acquisition head; 302. First limiting device; 303. Second limiting device; 304. Conveying mechanism; 305. High-pressure water pump; 306. High-pressure water pipe; 307. High-pressure water outlet; 308. First strain gauge; 309. Second strain gauge; 310. Third strain gauge; 311. Fourth strain gauge; 4. First flexible hose; 5. Second flexible hose; 6. Flexible hose connection device; 601. Outer shell; 602. First connecting flange; 603. Second connecting flange; 7. Buoyancy plate; 701. Through hole; 8. Storage tank. Detailed Implementation

[0043] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0044] like Figures 1-11 As shown, a suspended subsea mining vehicle includes a frame 1, a thruster 2, a collection device 3, a storage tank 8, and a hose. The thruster 2 is mounted on the frame 1 and provides propulsion. The collection device 3 is located inside the frame 1 and is used to collect ore. The storage tank 8 is located inside the frame 1 and is used to store the ore collected by the collection device 3. The hose connects the storage tank 8 to a relay station, and the ore in the storage tank 8 is transported to the relay station for temporary storage via the hose.

[0045] like Figures 1-3As shown, a buoyancy plate 7 is provided at the top of the frame 1 to provide buoyancy. The thrusters 2 include four vertical thrusters and four forward thrusters. The vertical thrusters include a first vertical thruster 201, a second vertical thruster 202, a third vertical thruster 203, and a fourth vertical thruster 204, which are respectively located at the four top corners of the frame 1. The buoyancy plate 7 has four through holes 701 at its four top corners, and each of the first vertical thrusters 201, second vertical thruster 202, third vertical thruster 203, and fourth vertical thruster 204 is located within one of these through holes 701.

[0046] The forward thrusters are positioned below the vertical thrusters, forming a 30° angle with the vertical plane. The forward thrusters include a first forward thruster 205, a second forward thruster 206, a third forward thruster 207, and a fourth forward thruster 208. The first forward thruster 205 and the fourth forward thruster 208 propel inward at an angle, while the second forward thruster 206 and the third forward thruster 207 propel outward at an angle. The forward thrusters can also perform lateral thrust.

[0047] like Figure 4 , Figure 10 As shown, the collection device 3 includes a collection head 301, a limiting device, a high-pressure water spray device, and a conveying mechanism 304. The front end of the collection head 301 is wider than its rear end, and the front end of the collection head 301 gradually narrows towards the rear end. This ensures an effective collection width while reducing the size of the mining vehicle body, reducing resistance, and improving propulsion efficiency. The collection head 301 is provided with multiple mesh openings. The high-pressure water spraying equipment is installed above the collection head 301. The high-pressure water spraying equipment includes a high-pressure water pump 305, a high-pressure water pipe 306, and a high-pressure water outlet 307. There are two high-pressure water pumps 305, which are located at both ends of the high-pressure water pipe 306. The high-pressure water outlet 307 is connected to the high-pressure water pipe 306, and there are multiple high-pressure water outlets 307, which are located in the middle of the high-pressure water pipe 306. High-pressure water is sprayed from the high-pressure water outlet 307 to flush the ore accumulated on the collection head 301, remove the silt from the ore, and also to move the ore by high-pressure water spraying, so that the ore on the collection head 301 is moved to the conveying mechanism 304. The ore is then conveyed by the conveying mechanism 304 and transferred to the storage bin 8.

[0048] like Figure 8 , Figure 9 , Figure 11As shown, the limiting device includes a first limiting device 302 and a second limiting device 303, which are respectively disposed on both sides of the acquisition head 301. The first limiting device 302 and the second limiting device 303 have the same structure. The first limiting device 302 has two brackets and a support plate at the bottom. The two brackets of the first limiting device 302 are respectively provided with a first strain gauge 308 and a second strain gauge 309. The two brackets of the second limiting device 303 are respectively provided with a third strain gauge 310 and a fourth strain gauge 311. The first strain gauge 308, the second strain gauge 309, the third strain gauge 310, and the fourth strain gauge 311 are arranged with their contact direction upward. The thrust of the thruster 2 is adjusted according to the strain values ​​of the first strain gauge 308, the second strain gauge 309, the third strain gauge 310, and the fourth strain gauge 311 to ensure that the contact depth between the acquisition head 301 and the seabed remains within a stable range.

[0049] The side wall of the storage hopper 8 is connected to a first hose 4, and a stirring and cleaning mechanism is installed inside the storage hopper 8 to further clean the ore inside the storage hopper 8.

[0050] The hose includes a first hose 4 and a second hose 5, which are connected by a hose connection device 6. The second hose 5 is connected to the relay station. The hose connection device 6 is mounted on the frame 1. The hose connection device 6 includes a detachable housing 601, within which are detachable first connecting flanges 602 and 603. The first and second connecting flanges 602 and 603 are spherical and can rotate within the housing 601. The first hose 4 is disposed within the second connecting flange 603, and the second hose 5 is disposed within the first connecting flange 602, preventing the hoses from being bent and damaged.

[0051] In practical use, the suspended mining vehicle is deployed to the mining area along with the relay station. After the relay station is deployed to the preset position, the mining vehicle starts its thruster 2, and the mining vehicle moves from the relay station to the seabed and stops. The thruster 2 is started again to push forward and downward, inserting the collection head 301 into the seabed. As the mining vehicle moves, the ore gradually accumulates on the collection head 301 and moves backward. Water is sprayed on the ore through a high-pressure water spraying device, which provides thrust for the ore to move backward and washes away the silt covering the surface of the ore. The washed-out silt is discharged from the mesh of the collection head 301, and the ore is pushed onto the conveying mechanism 304. The ore is then transported through the conveying mechanism 304 to the storage tank 8. The stirring and washing mechanism in the storage tank 8 further cleans the ore. The cleaned ore is then transported to the relay station for temporary storage through the first hose 4, the hose connection device 6, and the second hose 5.

[0052] After the mining vehicle is deployed to the preset position along with the relay station, due to the pressure of seawater, the strain gauge values ​​of the first strain gauge 308, the second strain gauge 309, the third strain gauge 310, and the fourth strain gauge 311 are respectively... As the mining vehicle is pushed to the seabed, the pressure gradually increases due to the increased water depth. The strain gauge values ​​of the first strain gauge 308, the second strain gauge 309, the third strain gauge 310, and the fourth strain gauge 311 are respectively...

[0053] The height difference between the bottom of the limiting device and the bottom of the sampling head 301 is h0. During the downward penetration of the sampling head 301, when the penetration depth exceeds h0, the limiting device also comes into contact with the seabed. The seabed exerts an upward supporting force on it, simultaneously causing deformation of the limiting device. This results in changes in the strain gauge values ​​of the first strain gauge 308, the second strain gauge 309, the third strain gauge 310, and the fourth strain gauge 311. Strength calculations are performed based on the seabed soil dynamic parameters of the in-situ mining area. The strain gauge values ​​of the first strain gauge 308, the second strain gauge 309, the third strain gauge 310, and the fourth strain gauge 311 are respectively... At that time, the penetration depth corresponding to the acquisition head 301 is h0 + Δh. To ensure that the penetration depth of the acquisition head 301 is between [h0, h0 + Δh], the strain values ​​of the first strain gauge 308, the second strain gauge 309, the third strain gauge 310, and the fourth strain gauge 311 should be respectively between the intervals [h0, h0 + Δh]. and

[0054] Assume that the real-time strain gauge values ​​of the first strain gauge 308, the second strain gauge 309, the third strain gauge 310, and the fourth strain gauge 311 are ε 1 ε 2 ε 3 ε 4 These are used to control the vertical thrusters, and the control relationship is shown below:

[0055] Then the first vertical thruster 201 increases the downward thrust or decreases the upward thrust;

[0056] The first vertical thruster 201 maintains its current thrust state;

[0057] Then the first vertical thruster 201 reduces the downward thrust or increases the upward thrust;

[0058] Then the second vertical thruster 202 increases the downward thrust or decreases the upward thrust;

[0059] The second vertical thruster 202 then maintains its current thrust state;

[0060] Then the second vertical thruster 202 reduces the downward thrust or increases the upward thrust;

[0061] Then the third vertical thruster 203 increases the downward thrust or decreases the upward thrust;

[0062] The third vertical thruster 203 then maintains its current thrust state;

[0063] Then the third vertical thruster 203 reduces the downward thrust or increases the upward thrust;

[0064] Then the fourth vertical thruster 204 increases the downward thrust or decreases the upward thrust;

[0065] The fourth vertical thruster 204 maintains its current thrust state;

[0066] Then the fourth vertical thruster 204 reduces the downward thrust or increases the upward thrust;

[0067] This ensures that the penetration depth of the acquisition head 301 remains between [h0, h0+Δh].

[0068] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A suspended subsea mining vehicle, characterized in that, include: Framework (1); A thruster (2), mounted on a frame (1), is used to provide power; The collection device (3) includes a collection head (301), a limiting device, a high-pressure water jet device, and a conveying mechanism (304). The collection head (301) is inserted into the seabed to collect ore. The high-pressure water jet device is set above the collection head (301) to clean and push the ore on the collection head (301). The conveying mechanism (304) is set behind the collection head (301) to convey the ore. Storage bin (8), set inside frame (1), is used to store ore conveyed by conveying mechanism (304); A flexible hose is used to connect the storage hopper (8) and the relay station; The limiting device includes a first limiting device (302) and a second limiting device (303) respectively set on both sides of the acquisition head (301). The two supports of the first limiting device (302) are respectively equipped with a first strain gauge (308) and a second strain gauge (309). The two supports of the second limiting device (303) are respectively equipped with a third strain gauge (310) and a fourth strain gauge (311). The thrust of the thruster (2) is adjusted according to the strain values ​​of the first strain gauge (308), the second strain gauge (309), the third strain gauge (310) and the fourth strain gauge (311) to ensure that the contact depth between the acquisition head (301) and the seabed is kept in a stable range.

2. The suspended subsea mining vehicle as described in claim 1, characterized in that: The thruster (2) includes a vertical thruster and a forward thruster. The vertical thruster includes a first vertical thruster (201), a second vertical thruster (202), a third vertical thruster (203), and a fourth vertical thruster (204) respectively disposed at the top four corners of the frame (1). The forward thruster includes a first forward thruster (205), a second forward thruster (206), a third forward thruster (207), and a fourth forward thruster (208).

3. A suspended subsea mining vehicle as described in claim 2, characterized in that: The frame (1) is provided with a buoyancy plate (7) at the top, and four through holes (701) are provided at the four corners of the top of the buoyancy plate (7). The first vertical thruster (201), the second vertical thruster (202), the third vertical thruster (203) and the fourth vertical thruster (204) are respectively provided in one through hole (701).

4. A suspended subsea mining vehicle as described in claim 2, characterized in that: The forward thrusters are positioned below the vertical thrusters and have a 30° angle with the vertical plane. The first forward thruster (205) and the fourth forward thruster (208) advance inward at an angle, while the second forward thruster (206) and the third forward thruster (207) advance outward at an angle.

5. A suspended subsea mining vehicle as described in claim 1, characterized in that: The high-pressure water spraying device includes a high-pressure water pump (305), a high-pressure water pipe (306), and a high-pressure water outlet (307). There are two high-pressure water pumps (305), which are located at both ends of the high-pressure water pipe (306). The high-pressure water outlet (307) is connected to the high-pressure water pipe (306). There are multiple high-pressure water outlets (307), which are located in the middle of the high-pressure water pipe (306).

6. A suspended subsea mining vehicle as described in claim 1, characterized in that: The hose includes a first hose (4) and a second hose (5) connected by a hose connection device 6. The first hose (4) is connected to the storage hopper (8), and the second hose (5) is connected to the relay station.

7. A suspended subsea mining vehicle as described in claim 6, characterized in that: The hose connection device (6) includes a detachable housing (601), and a detachable first connecting flange (602) and a second connecting flange (603) are provided inside the housing (601). The first connecting flange (602) and the second connecting flange (603) can rotate inside the housing (601). The first hose (4) is disposed in the second connecting flange (603), and the second hose (5) is disposed in the first connecting flange (602) to prevent the hose from being bent and damaged.

8. A suspended subsea mining vehicle as described in claim 1, characterized in that: The front end of the acquisition head (301) is wider than its rear end, and the front end of the acquisition head (301) gradually narrows towards the rear end to improve propulsion efficiency.

9. A suspended subsea mining vehicle as described in claim 1, characterized in that: The storage tank (8) is equipped with a stirring and cleaning mechanism for further cleaning the ore in the storage tank (8).

10. A suspended subsea mining vehicle as described in claim 1, characterized in that: The first strain gauge (308), the second strain gauge (309), the third strain gauge (310) and the fourth strain gauge (311) are positioned upwards.

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