Deep-sea manganese nodule mining robot based on flexible collection

Abstract

This invention discloses a deep-sea manganese nodule mining robot based on flexible collection, relating to the field of deep-sea mining equipment technology. The mining robot includes a transmission device and a flexible collection device. The transmission device includes a first transmission pipe and a second transmission pipe, which are rotatably connected to the flexible collection device. A pump-suction mechanism is configured on the first transmission pipe, and a pusher is configured inside the second transmission pipe. The flexible collection device includes several rotating parts and several elastic spokes. Each elastic spoke is fixed between two rotating parts, and the middle portion of each elastic spoke protrudes outward, with gaps between adjacent elastic spokes. This invention utilizes the elastic deformation of each elastic spoke to collect manganese nodules, reducing plume generation and avoiding environmental pollution. Furthermore, the pump-suction mechanism and the pusher work together to achieve rapid transport of manganese nodules from the flexible collection device through a "push-suction" method.

Description

Technical Field

[0001] This invention relates to the field of deep-sea mining equipment technology, and in particular to a deep-sea manganese nodule mining robot based on flexible collection. Background Technology

[0002] In recent years, land resources have become increasingly scarce, with a large resource gap. The world is racing to study how to effectively develop marine resources to make up for the resource consumption gap. In order to build a maritime power and accelerate the development of new energy industries, my country's deep-sea space security, resource security and environmental security need to be improved. This has also intensified my country's urgent need for research on deep-sea mineral development equipment.

[0003] Seafloor manganese nodules, rich in various metallic elements, are considered an important direction for future resource development. However, due to the harsh seabed environment and technological limitations, the effective, safe, and environmentally friendly collection of seafloor manganese nodules remains a significant challenge. Current mechanized collection devices have short lifespans, are easily damaged, cause significant environmental disturbances, have complex composite (hydraulic) structures, exhibit unstable collection rates, and generate plumes that severely pollute the seabed environment. Summary of the Invention

[0004] In response to the problems of short lifespan, easy damage, and high susceptibility to environmental disturbances of the mechanical collection devices of traditional underwater mining robots, as well as the high complexity of the composite (integrated hydraulic) structure, unstable collection rate, and easy generation of plume pollution of the seabed environment, this invention provides a deep-sea manganese nodule mining robot based on flexible collection.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A deep-sea manganese nodule mining robot based on flexible collection includes a frame, a traveling device, a main control compartment, a storage compartment, a motion propulsion device, a flexible collection device, a vibration acquisition device, and a transmission device. The main control compartment is controlled and connected to the motion propulsion device, the vibration acquisition device, and the transmission device. The frame is fixed to the top of the traveling device, and the main control compartment and the storage compartment are fixed inside the frame. The motion propulsion device is fixedly connected to the frame, and the storage compartment is connected to the flexible collection device through the transmission device. The transmission device includes a first transmission pipe and a second transmission pipe. One end of the first and second transmission pipes is connected to the storage compartment, and the other end is rotatably connected to the flexible collection device. The first transmission pipe is equipped with a pump-suction suction mechanism, and the second transmission pipe is equipped with a pusher. The flexible collection device is located on one side of the traveling device. The flexible collection device includes a first rotating part, a second rotating part, and a plurality of elastic spokes. The first rotating part is rotatably connected to the other end of the first transmission tube, and the second rotating part is rotatably connected to the other end of the second transmission tube. The first rotating part is connected to the second rotating part via the plurality of elastic spokes. The middle portion of each elastic spoke protrudes outward, and there is a gap between adjacent elastic spokes. During rotation, the flexible collection device collects manganese nodules through the elastic deformation of each elastic spoke. The vibration acquisition device is movably connected to the flexible collection device and is used to acquire the vibration of each elastic spoke.

[0007] Furthermore, the traveling device includes a base frame, drive wheels, support wheels, guide wheels, and rubber tracks. The drive wheels, support wheels, and guide wheels are connected to the base frame. The drive wheels are driven by a drive motor, which drives the rubber tracks to rotate through the guide wheels. The bottom of the frame is connected to the base frame.

[0008] Furthermore, the motion propulsion device includes a first propulsion group and a second propulsion group. The first propulsion group has four propellers, which are arranged symmetrically in the horizontal direction. The second propulsion group has four propellers, which are arranged in parallel in the vertical direction.

[0009] Furthermore, the first propulsion group includes a first thruster, a second thruster, a third thruster, and a fourth thruster, wherein the extension line of the first thruster intersects the extension line of the second thruster at an acute angle, and the extension line of the third thruster intersects the extension line of the fourth thruster at an acute angle.

[0010] Furthermore, the flexible collecting device is elliptical in shape, and the first rotating part and the second rotating part are fixed to the ends of each of the elastic spokes.

[0011] Furthermore, the vibration acquisition device includes an H-shaped acquisition frame, which includes a pair of first connecting ends, a pair of second connecting ends, and a pair of transmission plates. Each transmission plate is appropriately matched and disposed on the outside of the first rotating part and the second rotating part. Each first connecting end is correspondingly connected to the transmission plate, and each second connecting end is movably connected to the vehicle frame.

[0012] Furthermore, each of the first connection ends is connected to the conductive plate via an industrial stethoscope, and the industrial stethoscope is in contact with the surface of the conductive plate.

[0013] Furthermore, a limiting rod is provided above the collection frame, and the end of the limiting rod is connected to the vehicle frame.

[0014] Furthermore, the first transmission tube and the second transmission tube are rotatably connected to the storage compartment, and the pusher is adjacent to the second rotating part and fixedly connected to the end of the second transmission tube.

[0015] Furthermore, the pump-suction mechanism includes an upper cover, a lower cover, a pressurizing pipe, and several connecting pipes. The upper cover is connected to the lower cover, and the pressurizing pipe is located inside the lower cover. One end of the pressurizing pipe is fixedly connected to the upper cover, and the other end has a gap between it and the inner wall of the lower cover. The upper cover and the lower cover are also connected by the connecting pipes, and each connecting pipe is equipped with a suction pusher.

[0016] The beneficial effects of this invention are as follows: This invention uses a pump-suction suction mechanism in conjunction with a pusher. The pump-suction suction mechanism generates suction on the manganese nodules, and the pusher generates thrust on the manganese nodules. The manganese nodules are transported from the flexible collection device to the storage bin through a "push-suction" method. This method not only improves the suction efficiency of manganese nodules, but also enables rapid transport of manganese nodules, thereby improving work efficiency.

[0017] This invention is the first to utilize a flexible collection device in deep-sea mining. It collects manganese nodules by undergoing elastic deformation. Compared with the rigid mechanical structures used in the past, it is less prone to wear and jamming. Furthermore, it has a simple structure and a stable collection rate. At the same time, the elastic spokes are less likely to generate plumes when collecting manganese nodules, thus avoiding the problem of seabed sediment plumes damaging the seabed ecosystem, reducing secondary costs for environmental restoration, and lowering costs. Attached Figure Description

[0018] Figure 1 The diagram shown is a schematic representation of the structural principle of one embodiment of the present invention.

[0019] Figure 2 As shown Figure 1 Top view.

[0020] Figure 3 for Figure 1 The schematic diagram of a partial structure shows the structure of the flexible collection device and the transmission device.

[0021] Figure 4 As shown Figure 3 Top view.

[0022] Figure 5 As shown Figure 4 Cross-sectional view at point A in the middle.

[0023] Figure 6 As shown Figure 4 Cross-sectional view at point B in the middle.

[0024] Figure 7 As shown Figure 6 A side view.

[0025] Figure 8 The diagram shows the arrangement of the first, second, third, and fourth thrusters.

[0026] Figure 9 The diagram shows the arrangement of the fifth, sixth, seventh, and eighth thrusters.

[0027] Figure 10 The diagram shown is a structural schematic of an industrial stethoscope according to one embodiment of the present invention.

[0028] Explanation of reference numerals in the attached drawings: 1. Frame; 2. Main control compartment; 3. Storage compartment; 4. Drive wheel; 5. Guide wheel; 6. Rubber track; 7. First transmission pipe; 8. Pump-type suction mechanism; 801. Upper cover; 802. Lower cover; 803. First connecting pipe; 804. Second connecting pipe; 805. Pressure boosting pipe; 806. Extraction thruster; 9. Second transmission pipe; 10. Push thruster; 11. First rotating part; 12. Second rotating part; 13. Elastic spokes; 14. Collection frame; 1401. Second connecting end; 15. Conducting plate; 16. Limiting rod; 17. First thruster; 18. Second thruster; 19. Third thruster; 20. Fourth thruster; 21. Fifth thruster; 22. Sixth thruster; 23. Seventh thruster; 24. Eighth thruster; 25. Housing; 26. Vibration sensor; 27. Aviation connector. Detailed Implementation

[0029] This invention discloses a deep-sea manganese nodule mining robot based on flexible collection. The following describes one embodiment of the invention in detail with reference to the accompanying drawings.

[0030] Combination Figure 1 and Figure 2As shown, the mining robot includes a frame 1, a traveling device, a main control compartment 2, a storage compartment 3, a motion propulsion device, a flexible collection device, a vibration acquisition device, and a transmission device. The main control compartment 2 is equipped with a control system, which is connected to the motion propulsion device, the vibration acquisition device, and the transmission device. The bottom of the frame 1 is connected to the traveling device, and the main control compartment 2 and the storage compartment 3 are fixed inside the frame 1. The storage compartment 3 is connected to the flexible collection device via the transmission device. A camera is mounted on the front of the frame 1, and the camera is connected to the control system.

[0031] Combination Figure 8 and Figure 9 As shown, the propulsion device includes a first propulsion group and a second propulsion group, with the first propulsion group located below the second propulsion group. The first propulsion group includes a first propeller 17, a second propeller 18, a third propeller 19, and a fourth propeller 20, arranged laterally symmetrically. The angle between the extension lines of the first propeller 17 and the second propeller 18 is acute, as are the angles between the extension lines of the first propeller 17 and the backward direction of the propulsion device, and the angle between the extension lines of the second propeller 18 and the backward direction of the propulsion device. The angle between the extension lines of the third propeller 19 and the fourth propeller 20 is acute, as are the angles between the extension lines of the third propeller 19 and the forward direction of the propulsion device, and the angle between the extension lines of the fourth propeller 20 and the forward direction of the propulsion device. The second set of 18 thrusters includes a fifth thruster 21, a sixth thruster 22, a seventh thruster 23, and an eighth thruster 24, which are arranged vertically in parallel. The motion propulsion device is connected to the frame 1. The first thruster 17 and the second thruster 18 are located on the front side of the frame 1, the third thruster 19 and the fourth thruster 20 are located on the rear side of the frame 1, the fifth thruster 21 and the sixth thruster 22 are located on the left side of the frame 1, and the seventh thruster 23 and the eighth thruster 24 are located on the right side of the frame 1.

[0032] In this embodiment, the thrusters in the first and second propulsion groups are DC brushless motor thrusters. The appropriate thruster model is selected based on the magnitude of the fluid resistance of the mining robot. According to the Morrison equation, the magnitude of the fluid resistance of the mining robot when it moves at a constant speed in the fluid is as follows:

[0033]

[0034] In Equation 1, ρ represents the density of seawater, taken as 1.051 × 10³ kg / m³; C d This represents the drag coefficient, which is taken as 1 (according to the specified C). dThe value of is between 0.8 and 1.2 (in this embodiment, the average value is used for calculation); A represents the projected area in the direction of motion, in m². 2 v represents the fluid velocity, taken as 0.8 m / s. When using the Morrison equation for calculations, considering that manganese nodule collection takes place in the deep sea, the effect of waves is not considered; therefore, only the drag force is recorded, while the inertial force is ignored. The projected area AX = 0.22 m² of the robot in the forward, lateral, and buoyancy directions is measured using model projection. 2 AY = 0.27m 2 AZ = 0.16m 2 According to Equation 1, the resistance of the mining robot in the three directions is calculated to be FX = 67.6N, FY = 81.7N, and FZ = 50.7N (the mining robot is brought to a zero-buoyancy state by matching the float). Based on the calculation results of the robot's fluid resistance, considering that the robot's thrusters are mainly used to achieve snorkeling movement, and that forward, backward, and turning movements are assisted by the tracked walking unit, and that the actual current velocity in the seabed environment is very low, and the mining robot's working speed is not fast (its relative speed is much less than 0.8m / s), the ROVMAKER thruster was finally selected in this embodiment. The thruster has a forward thrust of 25N, a reverse thrust of 20N, and a nozzle diameter of 64mm.

[0035] To ensure the mining robot can navigate in six degrees of freedom in water, the first propulsion combination force must overcome the fluid resistance in the forward direction. The angle between the extension of the first thruster 17 and the acute angle in the backward direction is δ1; the angle between the extension of the second thruster 18 and the acute angle in the backward direction is δ2; the angle between the extension of the third thruster 19 and the acute angle in the forward direction is δ3; and the angle between the extension of the fourth thruster 20 and the acute angle in the forward direction is δ4. Calculations show that each installation angle should satisfy: 43.13° ≤ δ i (i=1~4)≤62.88°, therefore δ=45° is chosen. Similarly, the second propulsion combination force needs to overcome the fluid resistance in the buoyancy direction. Calculations show Dsx=150mm and Dsy=200mm, thus determining the overall layout of the propeller array. The first propulsion group enables the mining robot to move forward, backward, laterally, and turn underwater, while the second propulsion group enables buoyancy, roll, and tilting movements.

[0036] The traveling device includes a base frame and drive wheels 4, support wheels, guide wheels 5, and rubber tracks 6 symmetrically arranged on both sides of the base frame. The drive wheels 4 and guide wheels 5 are connected to the base frame, and the bottom of the frame body 1 is connected to the top of the base frame. The drive wheels 4 are driven by a drive motor, which drives the guide wheels 5 to rotate. The support wheels are connected to the rubber tracks 6, supporting the rubber tracks 6 and enabling the rubber tracks 6 to operate smoothly.

[0037] The working area of ​​the mining robot is mostly cohesive and soft bottom soil with sediment accumulation, high water content, large porosity and low friction. The mining robot is prone to sinking and slipping. In order to adapt to the special conditions of the deep seabed soil, the walking device is selected as tracked. The selection of the drive motor is determined by the resistance encountered by the robot when walking. Since the mining robot needs to have the ability to walk on land for short distances, the drive motor needs to have a high torque output. When the mining robot walks on land, it is mainly affected by the resistance of the ground. The overall mass of the robot is 80kg. When the rolling resistance system is 0.1, the resistance encountered is Ff=80N. In addition to the motion resistance, the mining robot is also affected by the steering resistance torque

[25] . According to the steering resistance torque calculation formula 2, M is obtained. u =50 N·m.

[0038]

[0039] In Equation 2, μ represents the steering resistance coefficient, which is taken as 0.5; M represents the mass of the robot in water; g represents the acceleration due to gravity; and L represents the track ground contact length, which is designed to be 0.5m.

[0040] Based on equations 3 and 4, the maximum steering drive torque M of the mining robot is obtained. max = 8.58 N·m.

[0041]

[0042] M max =max{F q1 ,F q2}·r (Equation 4)

[0043] In equations 3 and 4, F f1 and F f2 This indicates the forward resistance on the inner and outer sides of the rubber track 6; f represents the rolling resistance coefficient of the rubber track 6, which is taken as 0.1; B represents the track gauge of the rubber track 6; r represents the radius of the drive wheel 4.

[0044] In the underwater environment, the mining robot is equipped with a floating material (chemical foam composite material) with a mass of 2 kg in the water. Therefore, the robot requires very little steering torque when moving on the seabed. However, due to the presence of fluid, the total resistance in the forward direction is greater than the total resistance when moving on land. When the seabed current velocity is 1 m / s, the water resistance F experienced by the robot in the forward direction is calculated according to Equation 1. x = 67.6 N. In addition, the fishing robot will also experience resistance from the seabed soil when moving on the seabed. When the rolling resistance coefficient is 0.1, the resistance from the soil is F. f =2N, then the total resistance experienced by the robot during its journey on the seabed is F = Fx +F f = 69.6N. Based on a safety factor of 1.5, the power of the drive motor must be at least 104.4W. Therefore, in this embodiment, a 57BL04 type brushless DC motor with a power of 138W and a torque constant of 61 is selected.

[0045] Combination Figure 3 and Figure 4 As shown, the transmission device includes a first transmission pipe 7 and a second transmission pipe 9. The rear ends of both the first transmission pipe 7 and the second transmission pipe 9 are rotatably connected to the storage compartment 3 via servo motors. The front ends of both the first transmission pipe 7 and the second transmission pipe 9 are rotatably connected to a flexible collection device. A pump-type suction mechanism 8 is disposed in the middle of the first transmission pipe 7, and a pusher 10 is disposed in the front end of the second transmission pipe 9. Figure 5 As shown, the pump-suction mechanism 8 employs the Venturi effect principle and includes an upper cover 801, a lower cover 802, a pressure boosting pipe 805, and a connecting pipe. The upper cover 801 and the lower cover 802 are interconnected, each having a coaxial through-pipe. The pressure boosting pipe 805 is a reducer and is located inside the lower cover 802. The upper end of the pressure boosting pipe 805 is fixedly connected to the pipe opening of the upper cover 801, and the lower end has a gap between it and the inner wall of the lower cover 802. The connecting pipe includes a first connecting pipe 803 and a second connecting pipe 804. The upper ends of the first connecting pipe 803 and the second connecting pipe 804 are connected to the upper cover 801 and communicate with the pipe inside the upper cover 801. The lower ends of the first connecting pipe 803 and the second connecting pipe 804 are connected to the lower cover 802 and communicate with the pipe inside the lower cover 802 through the gap between the pressure boosting pipe 805 and the lower cover 802. An extraction thruster 806 is installed inside the first connecting pipe 803 and the second connecting pipe 804.

[0046] The Venturi effect works by the fact that when fluid passes through an obstruction, the air pressure is relatively low near the upper port on the back of the obstruction, creating an adsorption effect and increasing the fluid velocity at that point. Similarly, the Venturi tube works by narrowing the fluid stream to increase its velocity, creating a "vacuum" zone behind the Venturi tube outlet. When this vacuum zone approaches a workpiece, it exerts an adsorption effect on the workpiece. In this embodiment, the booster pipe 805 utilizes the Venturi tube principle. Water and manganese nodules located in the first transmission pipe 7 sequentially pass through the upper cover 801, the booster pipe 805, and the lower cover 802. The extraction propeller 806, configured in the first connecting pipe 803 and the second connecting pipe 804, draws water from the upper cover 801 and then ejects it from the gap between the booster pipe 805 and the inner wall of the lower cover 802 into the lower cover 802. When fluid flows through a narrow flow face, its velocity increases. The change in velocity is inversely proportional to the area of ​​the flow face. According to Bernoulli's law, the increase in fluid velocity leads to the formation of a low-pressure zone around the fluid. This creates a pressure difference inside the device, generating an adsorption force that pushes the manganese nodules into the storage chamber 3. A pusher 10 is installed at the front end of the second transmission pipe 9. The pusher 10 can discharge the water collected in the storage chamber 3 and push the manganese nodules located in the flexible collection device towards the end of the first transmission pipe 7. The pump-suction mechanism 8 located in the first transmission pipe 7 cooperates with the pusher 10 located in the second transmission pipe 9 to achieve a good cycle of manganese nodule transportation through a "push-suction" method, improving the transportation efficiency of the manganese nodules.

[0047] Combination Figure 6 and Figure 7 As shown, the flexible collection device is located at the front of the traveling device and is elliptical in shape. The flexible collection device includes a first rotating part 11, a second rotating part 12, and several elastic spokes 13. Each elastic spoke 13 is evenly arranged between the first rotating part 11 and the second rotating part 12. One end of each elastic spoke 13 is fixedly connected to the first rotating part 11, and the other end is connected to the second rotating part 12. There is a gap between adjacent elastic spokes 13, and the middle of each elastic spoke 13 protrudes outward. The first rotating part 11 is rotatably connected to the front end of the first transmission pipe 7, and the second rotating part 12 is rotatably connected to the front end of the second transmission pipe 9. In this embodiment, the elastic spokes 13 are made of metal to ensure their elasticity and durability.

[0048] Deep-sea manganese nodules are approximately spherical and embedded in a thin layer of soft seabed sediment, with a maximum burial depth not exceeding 25 cm. They are distributed in a two-dimensional surface mineralization pattern. The diameter difference of manganese nodules in each mining area generally does not exceed 2 cm, and the diameter of manganese nodules in commercially exploitable mining areas is generally between 4 cm and 6 cm. During rotation, the flexible collection device comes into contact with the manganese nodules and undergoes elastic deformation. The compression from the nodules increases the gap between adjacent elastic spokes 13, forcing the approximately spherical manganese nodules into the internal space of the flexible collection device, while the elastic spokes 13 return to their original shape. This process repeats continuously as the flexible collection device rotates, with the elastic spokes 13 constantly colliding and compressing the manganese nodules, achieving high-efficiency continuous collection of manganese nodules. Furthermore, flexible collection devices with different spoke spacings can be used to improve adaptability, depending on the differences in the average diameter of different mining areas.

[0049] like Figure 10 As shown, the vibration acquisition device includes an H-shaped acquisition frame 14 and a vibration collector. The acquisition frame 14 includes a pair of first connecting ends, a pair of second connecting ends 1401, and a pair of transmission plates 15. Each transmission plate 15 is appropriately fitted on the outside of the first rotating part 11 and the second rotating part 12. Each first connecting end is fixedly connected to the transmission plate 15 via an industrial stethoscope. The industrial stethoscope includes a housing 25, a vibration sensor 26, and an aviation connector 27. The vibration sensor 26 is fixed inside the housing 25, and the aviation connector 27 is located outside the housing 25 and connected to the vibration sensor 26. The control system is connected to the aviation connector 27 via wiring. Each industrial stethoscope makes surface contact with the transmission plate 15 through the vibration sensor 26. The second connecting ends 1401 are movably connected to the vibration collector fixed on the frame. A limit rod 16 is provided above the acquisition frame 14. The two ends of the limit rod 16 are movably connected to the frame and can move up and down relative to the frame. The middle part of the limiting rod 16 contacts the top of the collection frame 14. The limiting rod 16 is used to limit the position of the collection frame 14, thereby preventing the flexible collection device from moving upward during the collection of manganese nodules.

[0050] Since manganese nodules are mainly distributed on the deep seabed, where the pressure and corrosiveness are high, mining robots are prone to malfunction. After a malfunction, the mining robot needs to be retrieved from the mother ship for inspection. Furthermore, in the commercial application stage, a malfunction leading to production interruption would result in significant economic losses. The marine environment is also unique and complex, with underwater currents, high pressure, strong winds, and extreme sea conditions posing significant challenges to the maintenance of mining robots. In this embodiment, the elastic spokes 13 undergo elastic deformation during the collection of manganese nodules. The vibration generated by this deformation is transmitted through a transmission plate to the vibration sensor 26 of the industrial stethoscope. The vibration sensor 26 performs frequency domain analysis on the collected data through the control system and then transmits it to the user terminal on the mother ship to provide feedback on the real-time operation status of the mining robot and fault warnings, thereby shortening repair time and improving production efficiency.

[0051] During operation, the movement of the mining robot's propulsion system can be divided into basic navigation, tracked movement, and manganese nodule collection. The basic navigation function improves the robot's stability in water. Equipped with several depth and attitude sensors, the control system obtains the robot's depth and attitude angle from these sensors. Combined with control signals from the operator, the control system sends PWM signals to the first and second propulsion groups. This outputs thrust from each propeller to correct the robot's attitude and depth, achieving the operator's control objectives. Furthermore, the robot increases its load of manganese nodules during the return journey, with the first and second propulsion groups providing appropriate thrust. The tracked movement function ensures smooth movement through seabed sediments. The robot's turning, forward movement, and backward movement are achieved through the relative speed difference between the rubber tracks 6 on the left and right sides. The operator transmits PWM signals to the drive motors on both sides via the control system, using the speed difference between the left and right rubber tracks 6 to control the robot's direction and speed. The manganese nodule collection function is used to collect manganese nodules. The staff controls the rotation of the servo motor through the control system. The servo motor drives the first transmission pipe 7 and the second transmission pipe 9 to rotate, thereby driving the flexible collection device to achieve the lifting and pressing operation.

[0052] With staff ensuring the mining robot's movement is stable amidst the deep-sea sediment, the control system controls the servo motors connected to the first transmission pipe 7 and the second transmission pipe 9. The control system calculates the expected angle of the servo motors and sends corresponding PWM signals, causing the servo motors to change the rotation angle of the first and second transmission pipes 7 and 9, thus lowering the flexible collection device to a suitable height. A camera monitors the underwater environment in real time and transmits the data to the control system.

[0053] The first rotating part 11 of the flexible collection device rotates relative to the end of the first transmission pipe 7, and the second rotating part 12 rotates relative to the end of the second transmission pipe 9. When the operator observes that the flexible collection device begins collecting manganese nodules, the pump-suction mechanism 8 and the pusher 10 are activated through the control system. Simultaneously, the distribution and collection of manganese nodules are observed through a camera, and the speed and direction of the traveling device are adjusted flexibly. The first transmission pipe 7 uses the pump-suction mechanism to draw the manganese nodules collected by the flexible collection device into the storage chamber 3. The pusher 10 draws water from the storage chamber 3 through the second transmission pipe 9 and sprays it towards the manganese nodules located in the flexible collection device, causing the manganese nodules to move to a position near the end of the first transmission pipe 7, making it easier for the first transmission pipe 7 to draw them in. The pump-suction mechanism 8 and the pusher 10 work together to achieve rapid circulation of manganese nodule transport through a "push-suction" method, improving the transport efficiency of manganese nodules. The staff adjusted the position of the limit rod 16 through the control system, so that the limit rod 16 moved downward relative to the frame, restricting the movement of the collection frame 14 and preventing the flexible collection device from moving upward during the collection of manganese nodules, thereby improving the stability of the manganese nodule collection process.

[0054] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A deep-sea manganese nodule mining robot based on flexible collection, characterized in that: The device includes a frame (1), a traveling device, a main control compartment (2), a storage compartment (3), a motion propulsion device, a flexible collection device, a vibration acquisition device, and a transmission device. The main control compartment (2) is connected to the motion propulsion device, the vibration acquisition device, and the transmission device. The frame (1) is fixed to the top of the traveling device. The main control compartment (2) and the storage compartment (3) are fixed inside the frame (1). The motion propulsion device is fixedly connected to the frame (1). The storage compartment (3) is connected to the flexible collection device through the transmission device. The transmission device includes a first transmission pipe (7) and a second transmission pipe (9). One end of the first transmission pipe (7) and the second transmission pipe (9) is connected to the storage compartment (3), and the other end is rotatably connected to the flexible collection device. A pump-suction mechanism (8) is configured on the first transmission pipe (7), and a pusher (10) is configured inside the second transmission pipe (9). The flexible collection device is located on one side of the traveling device. The flexible collection device includes a first rotating part (11), a second rotating part (12), and several elastic spokes. 13), the first rotating part (11) is rotatably connected to the other end of the first transmission tube (7), the second rotating part (12) is rotatably connected to the other end of the second transmission tube (9), the first rotating part (11) is connected to the second rotating part (12) through a plurality of elastic spokes (13), the middle part of each elastic spoke (13) protrudes outward, and there is a gap between adjacent elastic spokes (13). The flexible collecting device collects manganese nodules by elastic deformation of each elastic spoke (13) during rotation. The vibration acquisition device is movably connected to the flexible collection device and is used to acquire the vibration of each of the elastic spokes (13); The vibration acquisition device includes an H-shaped acquisition frame (14) and a vibration collector. The acquisition frame (14) includes a pair of first connecting ends, a pair of second connecting ends (1401) and a pair of conductive plates (15). Each conductive plate (15) is appropriately matched and installed on the outside of the first rotating part (11) and the second rotating part (12). Each first connecting end is fixedly connected to the conductive plate (15) through an industrial stethoscope. The first transmission pipe (7) and the second transmission pipe (9) are rotatably connected to the storage compartment (3), and the pusher (10) is adjacent to the second rotating part (12) and fixedly connected to the end of the second transmission pipe (9); The pump-suction mechanism (8) includes an upper cover (801), a lower cover (802), a pressurizing pipe (805), and several connecting pipes. The upper cover (801) is connected to the lower cover (802). The pressurizing pipe (805) is located inside the lower cover (802). One end is fixedly connected to the upper cover (801), and the other end has a gap between it and the inner wall of the lower cover (802). The upper cover (801) and the lower cover (802) are also connected by the connecting pipes. Each connecting pipe is equipped with a suction pusher (806). The flexible collecting device is elliptical in shape, and the first rotating part (11) and the second rotating part (12) are fixed to the ends of each of the elastic spokes (13); The pusher (10) is used to discharge the water collected in the storage tank (3) and push the manganese nodules located in the flexible collection device toward the end of the first transmission pipe (7); The pump-suction mechanism (8) located in the first transmission pipe (7) cooperates with the pusher (10) located in the second transmission pipe (9) to achieve manganese nodule transportation through a "push-suction" method; The vibration acquisition device includes an H-shaped acquisition frame (14), which includes a pair of first connecting ends, a pair of second connecting ends (1401), and a pair of transmission plates (15). Each transmission plate (15) is appropriately matched and disposed on the outside of the first rotating part (11) and the second rotating part (12). Each first connecting end is correspondingly connected to the transmission plate (15), and each second connecting end (1401) is movably connected to the vehicle frame. Each of the first connection ends is connected to the conduction plate (15) via an industrial stethoscope, and the industrial stethoscope is in contact with the surface of the conduction plate (15); The industrial stethoscope includes a housing (25), a vibration sensor (26), and an aviation plug (27). The vibration sensor (26) is fixed inside the housing (25), and the aviation plug (27) is located outside the housing (25) and connected to the vibration sensor (26). The control system is connected to the aviation plug (27) via a line. A limiting rod (16) is provided above the collection frame (14), and the end of the limiting rod (16) is connected to the vehicle frame; the two ends of the limiting rod (16) are movably connected to the vehicle frame.

2. The deep-sea manganese nodule mining robot based on flexible collection according to claim 1, characterized in that: The traveling device includes a base frame, a drive wheel (4), a support wheel, a guide wheel (5), and a rubber track (6). The drive wheel (4), the support wheel, and the guide wheel (5) are connected to the base frame. The drive wheel (4) is driven by a drive motor and drives the rubber track (6) to rotate through the guide wheel (5). The bottom of the frame (1) is connected to the base frame.

3. The deep-sea manganese nodule mining robot based on flexible collection according to claim 1, characterized in that: The motion propulsion device includes a first propulsion group and a second propulsion group. The first propulsion group has four propellers, which are arranged symmetrically in the horizontal direction. The second propulsion group has four propellers, which are arranged in parallel in the vertical direction.

4. The deep-sea manganese nodule mining robot based on flexible collection according to claim 3, characterized in that: The first propulsion group includes a first thruster (17), a second thruster (18), a third thruster (19), and a fourth thruster (20). The extension line of the first thruster (17) intersects the extension line of the second thruster (18) at an acute angle, and the extension line of the third thruster (19) intersects the extension line of the fourth thruster (20) at an acute angle.

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