A cobalt-rich crust collection vehicle

Abstract

This invention discloses a cobalt-rich crust collection vehicle, comprising a movable vehicle body, a turntable rotatably mounted on the vehicle body, a first cantilever hinged to the turntable, a first hydraulic cylinder and a spring assembly disposed between the first cantilever and the turntable, the first hydraulic cylinder being connected to the spring assembly, a first swing arm hinged to the first cantilever, a first spring and a first position sensor disposed between the front side of the first swing arm and the first cantilever, and between the rear side of the first swing arm and the first cantilever, respectively, a second swing arm hinged to the lower end of the first swing arm, a second spring disposed between the left side of the second swing arm and the first swing arm, and between the right side of the second swing arm and the first swing arm, respectively, a cutting head disposed at the lower end of the second swing arm, and a collection head connected to the vehicle body disposed behind the cutting head. Compared with the prior art, this invention enables rapid response in the height direction while adjusting the cutting head in all directions.

Description

Technical Field

[0001] This invention relates to the field of seabed metal nodule collection technology, and in particular to a cobalt-rich nodule collection vehicle. Background Technology

[0002] In deep-sea mineral mining, mineral collection technology is a core functional module. Deep-sea cobalt-rich crusts mostly grow on the slopes of seamounts 500–3000 meters above sea level, rich in manganese, copper, nickel, cobalt, and other elements. Cobalt, in particular, has the highest content among the three seabed minerals, possessing immense economic value and significant strategic importance. Because cobalt crusts are typically tightly attached to hard rock, with a thickness of 2–6 cm, the mining process requires using a cutting head to break the crust before it is picked up by a collection device. Deep-sea cobalt-rich crust collection vehicles typically include a cutting head, a collection head, terrain detection equipment, a driving system, and auxiliary equipment. During operation, local terrain detection equipment, such as ultrasonic detection, is used to determine the terrain of the mining vehicle's location. After the control system makes a decision, the cutting head breaks and peels off the crust from the bedrock. Then, the collection head picks up the scattered mineral particles using hydraulic or mechanical methods, and finally, they are transported to the surface mother ship via pipeline.

[0003] The existing solution has the following problems:

[0004] 1) Poor adaptability to terrain

[0005] Existing methods heavily rely on the accuracy of terrain perception by detection equipment. Since both cutting and retrieval processes disturb seabed deposits, the resulting plumes increase the turbidity of the working environment. Current research indicates that neither optical nor acoustic instruments can obtain high-precision, real-time local topographic maps in such environments; inaccurate terrain data significantly impacts mining efficiency. Secondly, the cutting heads in existing methods are mostly cylindrical, which cannot effectively conform to varying terrain contours, resulting in many missed areas (such as local depressions).

[0006] 2) Low data collection efficiency

[0007] Current deep-sea mineral collection devices can be divided into mechanical and hydraulic types. Mechanical devices cause less disturbance to the seabed sediment, but require a separate power unit. Hydraulic devices include pure suction or wall-mounted jet types. Pure suction requires a large flow of water, resulting in high energy consumption and low efficiency. Wall-mounted jet types inevitably generate local plumes due to the direct scouring of the seabed sediment by the nozzle water jet, which has a greater impact on the environment. In addition, due to the characteristics of crust distribution, the crust breaks and scatters unevenly, resulting in a large amount of idle and ineffective power during the collection process. Summary of the Invention

[0008] The present invention provides a cobalt-rich crust collection vehicle to solve at least one of the problems in the background art.

[0009] This invention provides a cobalt-rich crust collection vehicle, comprising a movable vehicle body, a turntable rotatably mounted on the vehicle body, a first cantilever hinged to the turntable, a first hydraulic cylinder and a spring assembly disposed between the first cantilever and the turntable, the first hydraulic cylinder being connected to the spring assembly, a first swing arm hinged to the first cantilever, a first spring and a first position sensor disposed between the front side of the first swing arm and the first cantilever, and between the rear side of the first swing arm and the first cantilever, a second swing arm hinged to the lower end of the first swing arm, a second spring disposed between the left side of the second swing arm and the first swing arm, and between the right side of the second swing arm and the first swing arm, a cutting head disposed at the lower end of the second swing arm, and a collection head connected to the vehicle body disposed behind the cutting head.

[0010] Preferably, a second cantilever is hinged to the turntable, the second cantilever is hinged to the first cantilever, and a second hydraulic cylinder is provided between the second cantilever and the turntable.

[0011] Preferably, support plates are fixed on both the left and right sides of the first swing arm, and the two ends of the second spring are respectively connected to the second swing arm and the support plates.

[0012] Preferably, an arc-shaped rod is fixed on the first cantilever, and the first spring and the first position sensor are both disposed between the arc-shaped rod and the first swing arm, and the arc-shaped rod is slidably connected to the support plate.

[0013] Preferably, the front and rear sides of the support plate are provided with a first support that cooperates with the first position sensor. A first slide rod is fixed on the first support. The first slide rod is slidably connected to the arc rod. The first spring is provided on the first slide rod, and the first position sensor is provided on the arc rod.

[0014] Preferably, there are four arc-shaped rods, which are divided into two groups. The two groups of arc-shaped rods are located in front of and behind the first swing arm, respectively. The two arc-shaped rods in each group are located on the left and right sides of the first cantilever arm, respectively.

[0015] Preferably, the support plate is provided with a second position sensor, and the left and right sides of the second swing arm are provided with second supports that cooperate with the second position sensor. A second slide rod is fixed on the second support, the second slide rod is slidably connected to the support plate, and the second spring is provided on the second slide rod.

[0016] Preferably, the collection head includes a conveying hose and a suction cup connected to the conveying hose. Two rollers are rotatably arranged at the lower end of the suction cup. The two rollers are respectively located on the front and rear sides of the suction cup. Multiple ore-collecting combs are fixed on the rollers. The ore-collecting combs are provided with multiple comb teeth. The suction cup wall is provided with clearance holes that are adapted to the comb teeth. The ore-collecting combs on the two rollers are staggered inside the suction cup.

[0017] Preferably, the comb teeth are arc-shaped and arch upwards when inside the suction cup.

[0018] Preferably, the cutting head includes: a hydraulic motor, a gear transmission box, and a cutting head. The hydraulic motor drives the cutting head to rotate through the gear transmission box. The cutting head is provided with pick teeth, and the cutting head is small at both ends and large in the middle.

[0019] Compared with existing technologies, this invention enables the cutting head to swing left and right via a turntable, increasing the working area during operation. The spring assembly, in conjunction with the first and second springs, allows the cutting head to adapt to changes in the slope of the left and right sides, as well as the slope of the front and rear sides, providing a degree of adaptability to terrain. Furthermore, the position sensor and the first hydraulic cylinder compensate for the limited range of spring-adjusted cutting head height. This invention, through its adjustment mechanism, can better adapt to changes in local terrain. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of the present invention;

[0022] Figure 2 This is the front view of the present invention;

[0023] Figure 3 This is the left view of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of the acquisition head of the present invention;

[0025] Figure 5 This is a schematic diagram of the cutting head of the present invention;

[0026] Figure 6 This is a schematic diagram of the structure of the mineral-collecting comb that lifts up minerals according to the present invention.

[0027] Figure label:

[0028] 1. Vehicle body, 2. Turntable, 3. First cantilever, 4. First hydraulic cylinder, 5. Spring assembly, 6. First swing arm, 7. First spring, 8. First position sensor, 9. Second swing arm, 10. Second spring, 100. Cutting head, 200. Collection head, 11. Second cantilever, 12. Second hydraulic cylinder, 13. Support plate, 14. Arc rod, 15. First support, 16. First slide rod, 17. Second position sensor, 18. Second support, 19. Second slide rod, 20. Conveying hose, 21. Suction cup, 22. Roller, 23. Ore comb, 231. Comb teeth, 300. Clearance hole, 24. Hydraulic motor, 25. Gear transmission box, 26. Cutting head, 27. Pick teeth, 28. Support plate, 29. Protective cover, 30. Track. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0030] See attached document Figure 1 and attached Figure 3This embodiment provides a cobalt-rich crust collection vehicle, including a movable vehicle body 1. A turntable 2 is rotatably mounted on the vehicle body 1. A first cantilever 3 is hinged to the turntable 2. A first hydraulic cylinder 4 and a spring assembly 5 are provided between the first cantilever 3 and the turntable 2. The first hydraulic cylinder 4 is connected to the spring assembly 5. A first swing arm 6 is hinged to the first cantilever 3. A first spring 7 and a first position sensor 8 are provided between the front side and the first cantilever 3, and between the rear side and the first cantilever 3, respectively. A second swing arm 9 is hinged to the lower end of the first swing arm 6. A second spring 10 is provided between the left side and the first swing arm 6, and between the right side and the first swing arm 6, respectively. A cutting head 100 is provided at the lower end of the second swing arm 9. A collection head 200 connected to the vehicle body 1 is provided behind the cutting head 100. The cutting head 100 swings left and right via the turntable 2, thereby expanding the working area. The first cantilever 3 rotates around its hinge point (the position where it is hinged to the turntable 2), causing the cutting head 100 to move up and down. The first hydraulic cylinder 4 actively moves the cutting head 100 up and down, while the spring assembly 5 passively moves it. When the terrain changes, the spring assembly 5 can quickly adjust to adapt the cutting head 100 to changes in terrain height. The first hydraulic cylinder 4 can expand the vertical swing amplitude of the first cantilever 3, thereby increasing the vertical movement range of the cutting head 100. The first swing arm 6 rotates around its hinge point (the position where it is hinged to the first cantilever 3), causing the cutting head 100 to swing back and forth. At this time, the first spring 7 on one side of the first swing arm 6 is compressed, and the first spring 7 on the other side is stretched. For example, when encountering an uphill slope, the cutting head 100 being blocked by the terrain will cause the first swing arm 6 to swing backward, compressing the rear first spring 7 and stretching the front first spring 7. Simultaneously, the cutting head 100 rising with the terrain will cause the first cantilever 3 to rise (automatically completed under the action of the spring assembly 5). If the slope is greater than the preset angle, when the first position sensor 8 detects that the first spring 7 is compressed to a certain position, the first hydraulic cylinder 4 is activated to lift the cutting head 100 upward. When the terrain returns to flatness, the cutting head 100 returns to the middle position under the action of the first springs 7 on both sides, and the first hydraulic cylinder 4 returns to its original position. In this process, compared with the active control of the first hydraulic cylinder 4, the spring assembly 5 has the characteristics of more sensitive response and faster response; secondly, hydraulic control can make up for the problem of small stroke of spring control. The combination of the two can achieve both rapid response and large stroke adjustment. The second swing arm 9 rotates around the hinge point (the position where it is hinged to the first swing arm 6) to drive the cutting head 100 to swing left and right. At this time, the second spring 10 on one side of the second swing arm 9 is compressed, and the second spring 10 on the other side is stretched. For example, when the terrain on the left side is concave (there is a slope in the width direction of the terrain), the cutting head 100 tilts to the left, which will cause the second swing arm 9 to swing to the left, compressing the second spring 10 on the left side and stretching the second spring 10 on the right side. At the same time, the cutting head 100 sinks, which will cause the first cantilever 3 to descend (automatically completed under the action of the spring assembly 5).If the sinking height exceeds a preset value, the first hydraulic cylinder 4 activates, causing the cutting head 100 to move downwards. When the terrain returns to flatness, the cutting head 100 returns to the middle position under the action of the second springs 10 on both sides, and the first hydraulic cylinder 4 returns to its original position. During this process, compared to the active control of the first hydraulic cylinder 4, the spring assembly 5 has the characteristics of being more sensitive and responding more quickly; hydraulic control can compensate for the small stroke of spring control, and the combination of the two achieves both rapid response and large stroke adjustment. In this invention, the cutting head 100 can be adjusted forward, backward, left, and right, while also achieving a rapid response in the height direction.

[0031] The adjustment mechanism comprises a turntable 2, a first cantilever 3, a first hydraulic cylinder 4, a spring assembly 5, a first swing arm 6, a first spring 7, a first position sensor 8, a second swing arm 9, and a second spring 10. Compared to the traditional cutting head 100, which is fixed relative to the vehicle body, this invention allows the cutting head 100 to swing left and right during operation via the turntable 2, increasing the working area during movement. The spring assembly 5, in conjunction with the first spring 7 and the second spring 10, enables the cutting head 100 to adapt to changes in left and right slopes and front and rear slopes, providing a certain degree of adaptability to terrain. Furthermore, the position sensor and the first hydraulic cylinder 4 compensate for the limited height range of the spring-adjusted cutting head 100. This invention, through its adjustment mechanism, can better adapt to changes in local terrain.

[0032] In another embodiment of the present invention: a second cantilever 11 is hinged to the turntable 2, and the second cantilever 11 is hinged to the first cantilever 3. A second hydraulic cylinder 12 is provided between the second cantilever 11 and the turntable 2. Specifically, the two ends of the second hydraulic cylinder 12 are respectively hinged to the second cantilever 11 and the turntable 2. The second hydraulic cylinder 12 drives the second cantilever 11 to swing up and down around the hinge point (the position hinged to the turntable 2), thereby driving the cutting head 100 to move up and down. Adding the second cantilever 11 and the second hydraulic cylinder 12 between the first cantilever 3 and the turntable 2 helps to further improve the height adjustment range of the cutting head 100.

[0033] Specifically, there are two second hydraulic cylinders 12, distributed on the left and right sides of the second cantilever 11. This arrangement allows the second cantilever 11 to swing up and down more smoothly.

[0034] Specifically, one end of the first hydraulic cylinder 4 is hinged to the second cantilever 11, and the other end is slidably connected to the spring assembly 5. The end of the spring assembly 5 away from the first hydraulic cylinder 4 is hinged to the first cantilever 3.

[0035] In another embodiment of the present invention: support plates 13 are fixed on both the left and right sides of the first swing arm 6, and a second spring 10 is disposed between the support plate 13 and the second swing arm 9, with the two ends of the second spring 10 connected to the second swing arm 9 and the support plate 13 respectively.

[0036] In another embodiment of the present invention: an arc-shaped rod 14 is fixed on the first cantilever 3, and a first spring 7 and a first position sensor 8 are both disposed between the arc-shaped rod 14 and the support plate 13. The arc-shaped rod 14 and the support plate 13 are slidably connected. In one embodiment of starting the first hydraulic cylinder 4: the arc-shaped rod 14 slides towards the support plate 13, compressing the first spring 7. When the first position sensor 8 senses that the arc-shaped rod 14 and the support plate 13 have slid towards each other to a preset position, the first hydraulic cylinder 4 is triggered to start.

[0037] In another embodiment of the present invention: the front and rear sides of the support plate 13 are provided with first supports 15 that cooperate with the first position sensor 8. A first slide rod 16 is fixed on the first support 15. The first slide rod 16 is slidably connected to the arc-shaped rod 14. A first spring 7 is provided on the first slide rod 16, and the first position sensor 8 is provided on the arc-shaped rod 14. The first slide rod 16 slides toward the arc-shaped rod 14, thereby compressing the first spring 7. When the first position sensor 8 senses the first support 15, it triggers the first hydraulic cylinder 4 to start.

[0038] In another embodiment of the present invention, there are four arc-shaped rods 14, which are divided into two groups. The two groups of arc-shaped rods 14 are located in front of and behind the first swing arm 6, respectively. The two arc-shaped rods 14 in each group are respectively located on the left and right sides of the first cantilever 3. This arrangement allows the cutting head 100 to swing back and forth more smoothly.

[0039] As another embodiment of the present invention: refer to the appendix Figure 2 A second position sensor 17 is provided on the support plate 13. Second supports 18, cooperating with the second position sensor 17, are provided on both the left and right sides of the second swing arm 9. A second slide rod 19 is fixed on the second support 18 and slidably connected to the support plate 13. A second spring 10 is provided on the second slide rod 19. One embodiment of starting the first hydraulic cylinder 4 is as follows: the second slide rod 19 slides towards the support plate 13, compressing the second spring 10. When the second position sensor 17 senses the second support 18, it triggers the first hydraulic cylinder 4 to start.

[0040] As another embodiment of the present invention: refer to the appendix Figure 4The collection head 200 includes a conveying hose 20 and a suction cup 21 connected to the conveying hose 20. Two rollers 22 are rotatably mounted on the lower end of the suction cup 21, located at the front and rear sides respectively. Multiple mineral-collecting combs 23 are fixed on the rollers 22, each with multiple teeth 231. The suction cup 21 has clearance holes 300 on its wall that mate with the teeth 231. The mineral-collecting combs 23 on the two rollers 22 are staggered within the suction cup 21, allowing the teeth 231 on one roller 22 to engage with the gaps in the combs on the other roller 22. When the suction pump operates, the mineral-collecting combs 23 rotate with the water flow, gathering minerals from the ground and lifting them upwards. This design brings the minerals closer and closer to the suction cup 21 opening until they are sucked into the conveying hose 20. When there are no minerals, the suction water flow will drive the ore-collecting comb 23 to rotate rapidly. At this time, the kinetic energy of the water flow will be converted into the kinetic energy of the ore-collecting comb 23, which plays an energy storage role and provides power for subsequent ore accumulation and lifting. Compared with existing mechanical mining methods, this invention does not require a mechanical power unit and has a simpler structure; compared with methods such as wall jetting, there is no water jet that directly interacts with the bottom sediment, which can reduce disturbance, reduce plume, and is more environmentally friendly; the overall structure is simple.

[0041] As another embodiment of the present invention: refer to the appendix Figure 6 The comb teeth 231 are arc-shaped and arch upwards when inside the suction cup 21. This structural design ensures that when the ore-gathering comb 23 gathers minerals, the ends of the comb teeth 231 (the ends furthest from the roller 22) are opposite to the direction of travel, preventing the comb teeth 231 from being stuck by minerals or other protrusions on the ground. The two ore-gathering combs 23 effectively prevent minerals from being trapped when lifting them upwards.

[0042] Specifically, each roller 22 is fixed with four ore-collecting combs 23.

[0043] As another embodiment of the present invention: support plates 28 are fixed on the left and right walls of the suction cup 21, and the roller 22 is rotatably disposed between the two support plates 28. The roller 22 is located outside the suction cup 21 and does not affect the suction cup 21 from absorbing minerals.

[0044] As another embodiment of the present invention: refer to the appendix Figure 5The cutting head 100 includes a hydraulic motor 24, a gear transmission box 25, and a cutting head 26. The hydraulic motor 24 drives the cutting head 26 to rotate through the gear transmission box. The cutting head 26 is equipped with pick teeth 27, and the cutting head 26 is elliptical with smaller ends and a larger middle. Traditional cutting heads 100 use cylindrical cutter heads, with the tops of the pick teeth 27 arranged on the same cylindrical surface. When the cutting head 100 contacts the ground, it is a cylindrical surface contacting the ground, i.e., a line-surface contact, which is not well adapted to changes in micro-topography and height undulations, and is prone to missed cuts. The present invention uses a conical cutter head, with the tops of the pick teeth 27 arranged on the same conical surface. When the cutting head 100 contacts the ground, it is a conical surface contacting the ground, i.e., a curved surface contacting a curved surface, and the local fit between the two is better.

[0045] In another embodiment of the present invention: a protective cover 29 is fixed to the lower end of the second swing arm 9, and the cutting head 26 is rotatably disposed inside the protective cover 29. The hydraulic motor 24 and the gear transmission box 25 are disposed on the protective cover 29. The protective cover 29 is arranged on the outside of the ellipsoidal cutting head 26 to reduce the spread of the plume during operation; two hydraulic motors 24 are disposed on the top of the protective cover 29, and transmission boxes are arranged on both sides; the hydraulic motors 24 drive the rugby ball-shaped cutting head 26 to rotate through the gear boxes, and the two power systems are backups for each other.

[0046] In another embodiment of the present invention, tracks 30 are rotatably mounted on both sides of the vehicle body 1. The vehicle body 1 adopts a double track 30 structure, which has good adaptability to mountainous terrain.

[0047] In this invention, the cutting head 100 is started, the collection head 200 is started, the working position of the cutting head 100 is adjusted, and the turntable 2 rotates to drive the cutting head 100 to swing left and right; the vehicle starts to move and enters the mining state. At this time, the trajectory between the cutting head 100 and the ground is a "Z" shaped trajectory, which can expand the working area.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cobalt-rich crust harvesting vehicle, characterized in that, The utility model provides a movable car body, the car body is provided with a rotating disc, a first cantilever is hinged to the rotating disc, a first hydraulic cylinder and a spring assembly are arranged between the first cantilever and the rotating disc, the first hydraulic cylinder is connected with the spring assembly, a first swing arm is hinged to the first cantilever, a first spring and a first position sensor are arranged between the front side of the first swing arm and the first cantilever and between the rear side of the first swing arm and the first cantilever, a second swing arm is hinged to the lower end of the first swing arm, a second spring is arranged between the left side of the second swing arm and the first swing arm and between the right side of the second swing arm and the first swing arm, a cutting head is arranged at the lower end of the second swing arm, and a collecting head connected with the car body is arranged behind the cutting head.

2. The cobalt-rich crust collection vehicle of claim 1, wherein, A second cantilever is hinged to the rotating disc, the second cantilever is hinged to the first cantilever, and a second hydraulic cylinder is arranged between the second cantilever and the rotating disc.

3. The cobalt-rich crust collection vehicle of claim 2, wherein, The left and right sides of the first swing arm are fixedly provided with supporting plates, and the two ends of the second spring are connected with the second swing arm and the supporting plate respectively.

4. The cobalt-rich crust collection vehicle of claim 3, wherein, An arc-shaped rod is fixedly arranged on the first cantilever, the first spring and the first position sensor are arranged between the arc-shaped rod and the first swing arm, and the arc-shaped rod is slidably connected with the supporting plate.

5. The cobalt-rich crust collection vehicle of claim 4, wherein, The front side and the rear side of the supporting plate are provided with first supports matched with the first position sensor, first sliding rods are fixedly arranged on the first supports, the first sliding rods are slidably connected with the arc-shaped rod, the first spring is arranged on the first sliding rod, and the first position sensor is arranged on the arc-shaped rod.

6. The cobalt-rich crust collection vehicle of claim 5, wherein, The arc-shaped rod is four, the four arc-shaped rods are divided into two groups, the two groups of arc-shaped rods are located in front of and behind the first swing arm respectively, and the two arc-shaped rods of each group of arc-shaped rods are arranged on the left side and the right side of the first cantilever respectively.

7. The cobalt-rich crust collection vehicle of claim 6, wherein, The supporting plate is provided with a second position sensor, the left side and the right side of the second swing arm are provided with second supports matched with the second position sensor, second sliding rods are fixedly arranged on the second supports, the second sliding rods are slidably connected with the supporting plate, and the second spring is arranged on the second sliding rod.

8. The cobalt-rich crust collection vehicle of claim 7, wherein, The comb tooth is arc-shaped, and the comb tooth is arched upwards when being arranged in the suction disc.

9. The cobalt-rich crust collection vehicle of claim 1, wherein, The cutting head comprises a hydraulic motor, a gear transmission box and a cutting head, the hydraulic motor drives the cutting head to rotate through the gear transmission box, picks are arranged on the cutting head, and the cutting head is large in the middle and small at both ends.

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