Bidirectional mining deep-sea mining vehicle and mining method

Abstract

The invention discloses a bi-directional mining deep-sea mining vehicle and a mining method.The bi-directional mining deep-sea mining vehicle comprises a vehicle frame, a crawler-type walking mechanism and a hydraulic collecting mechanism, the crawler-type walking mechanism is used for driving the deep-sea mining vehicle to walk bi-directionally, and the vehicle frame is installed on the crawler-type walking mechanism; the hydraulic collecting mechanisms are arranged at the front end and the rear end of the vehicle frame correspondingly, the hydraulic collecting mechanism in the advancing direction of the deep-sea mining vehicle works, and the hydraulic collecting mechanism on the other side does not work. According to the mining method of the deep-sea ore, the deep-sea mining vehicle for bidirectional mining is used for mining, and mining can be completed only by changing the advancing direction of the mining vehicle and controlling the hydraulic collecting mechanism on the side to work. The problem of slipping caused by turning of the mining vehicle is avoided, and the winding rate of pipelines and armored cables caused by a traditional mining mode is reduced; in addition, the collection rate and the working efficiency of the mining vehicle are improved, ore missing loss is reduced, and the walking stability and the structural reliability of the mining vehicle are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of deep-sea mining equipment, and in particular relates to a mining vehicle and a mining method. Background Art

[0002] The ocean is rich in mineral resources, and contains a variety of metal elements that can be used on land, such as polymetallic nodules, cobalt-rich crusts and polymetallic sulfides, which can greatly alleviate the problem of the scarcity of mineral resources on land. Deep-sea mining has great commercial value. During the mining process, the deep-sea mining vehicle needs to prioritize the mining process route of the mining vehicle, so as to ensure that all the ore is collected by the mining vehicle and transported to the surface support system.

[0003] At present, the mining process of mining vehicles is to mine in a fixed area, first mining in a straight line, then turning around by turning the crawler to mine, so as to realize reciprocating mining of the entire area, but there are the following problems: 1. The mining vehicle may slip when turning, causing it to be unable to move normally; 2. When the mining vehicle turns around, mining is also carried out simultaneously, resulting in that some small areas of ore cannot be fully collected; 3. Mining vehicles go back and forth in the area and make many turns. The mining vehicles are connected to the surface support vessels through pipes and armored cables, which may cause the pipes and armored cables to become entangled or even disconnected. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies and defects mentioned in the above background technology and provide a deep-sea mining vehicle and mining method with reliable collection operation, high collection efficiency, pipelines and armored cables that are not easy to be entangled and disconnected, and two-way mining that can comprehensively collect the entire working area.

[0005] In order to solve the above technical problems, the technical solution proposed by the present invention is: A deep-sea mining vehicle for bidirectional mining comprises a vehicle frame, a crawler-type walking mechanism for driving the deep-sea mining vehicle for bidirectional walking, and a hydraulic collection mechanism for collecting seabed ore, wherein the vehicle frame is mounted on the crawler-type walking mechanism, the hydraulic collection mechanisms are arranged at both the front and rear ends of the vehicle frame, and the hydraulic collection mechanisms at the front and rear ends work in the following manner: the hydraulic collection mechanism on the side of the deep-sea mining vehicle in the direction of travel works, while the hydraulic collection mechanism on the side in the opposite direction of travel of the deep-sea mining vehicle does not work.

[0006] In the above-mentioned deep-sea mining vehicle with two-way mining, preferably, the outlets of the hydraulic collection mechanisms at the front and rear ends are gathered at the middle of the frame to a conveying mechanism for conveying the collected seabed ore to a relay station, and a regulating component is provided at the gathering point for adjusting whether the hydraulic collection mechanisms at the front and rear ends are connected to the conveying mechanism according to the working status of the hydraulic collection mechanisms at the front and rear ends; the regulating component works in the following manner: the hydraulic collection mechanism in the working state is connected to the conveying mechanism, and the hydraulic collection mechanism in the stopped state is not connected to the conveying mechanism.

[0007] The hydraulic collection mechanisms at the front and rear ends are gathered at the conveying mechanism at their exits, that is, the hydraulic collection mechanisms at the front and rear ends share a set of transport mechanisms, which reduces one set of transport mechanisms, reduces manufacturing costs, and reduces the weight of the mining vehicle, reduces the travel resistance of the mining vehicle, and increases system reliability. The hydraulic collection mechanisms at the front and rear ends are controlled to work intermittently by regulating components, so that the working direction of the hydraulic collection mechanisms is consistent with the forward direction of the deep-sea mining vehicle, which can ensure that the ore in the mining section in the forward direction is effectively mined, and avoids ineffective mining and power waste caused by opening the hydraulic collection mechanisms at the front and rear ends at the same time.

[0008] In the above-mentioned deep-sea mining vehicle for bidirectional mining, preferably, the hydraulic collection mechanisms at the front and rear ends are respectively a front-end collection mechanism and a rear-end collection mechanism, the front-end collection mechanism includes a front-end collection head and a front-end flexible channel, the front-end collection head is connected to the front-end flexible channel, the rear-end collection mechanism includes a rear-end collection head and a rear-end flexible channel, the rear-end collection head is connected to the rear-end flexible channel, and the outlets of the front-end collection mechanism and the rear-end collection mechanism are converged to the regulating component.

[0009] The hydraulic collection mechanisms at both ends include a collection head and a flexible channel. The collection head can collect the ore from the mining section and transport it to the flexible channel, and then transport it to the outlet of the hydraulic collection mechanism through the flexible channel. The flexible channel has low bending stiffness, is easy to install and recycle, has good corrosion resistance, and has a long service life, and can better adapt to complex deep-sea operating environments. The outlets of the hydraulic collection mechanisms at both ends are gathered to the regulating component, which can regulate the opening and closing of the hydraulic collection mechanisms at both ends, and control the working status of the hydraulic collection mechanisms at both ends.

[0010] In the above-mentioned two-way mining deep-sea mining vehicle, preferably, the regulating component is an electromagnetic three-way valve, which is connected to the control system of the deep-sea mining vehicle and is signal-interlocked with the crawler walking mechanism and the hydraulic collection mechanism.

[0011] The control component uses an electromagnetic three-way valve, which has a simple structure and is easy to operate. The electromagnetic three-way valve and the control system of the deep-sea mining vehicle, the crawler walking mechanism, and the signal interlocking of the hydraulic collecting mechanism can timely adjust the opening and closing direction of the hydraulic collecting mechanism according to the forward direction of the deep-sea mining vehicle and the collecting direction of the hydraulic collecting mechanism, so as to prevent the collected ore from sliding down the channel at the other end and affecting the collection efficiency of the deep-sea mining vehicle.

[0012] In the above-mentioned deep-sea mining vehicle for bidirectional mining, preferably, the electromagnetic three-way valve includes a left end channel, a right end channel, an upper end channel and an electromagnetic valve for controlling the communication direction of the channels, the left end channel is connected to the front end flexible channel, the right end channel is connected to the rear end flexible channel, the upper end channel is connected to the conveying mechanism, and the electromagnetic valve is arranged at the intersection of the left end channel, the right end channel and the upper end channel.

[0013] The solenoid valve is arranged at the intersection of the left channel, the right channel and the upper channel, and can control the connection between the left channel or the right channel and the upper channel. The upper channel is connected to the conveying mechanism, which can ensure that the ore in the flexible channel connected to the left and right end channels is smoothly transported to the relay station. At the same time, it avoids the phenomenon that the collected ore slides down the channel on the other side, thereby increasing the reliability of the collection mechanism.

[0014] In the above-mentioned deep-sea mining vehicle for two-way mining, preferably, the conveying mechanism includes a suction pump and a conveying hose, the suction pump is arranged above the upper end channel, one end of the conveying hose is connected to the suction pump, and the other end of the conveying hose is connected to the relay station. The suction pump can suck up the ore in the flexible channel connected to one side of the upper end channel and convey it to the relay station through the conveying hose, thereby avoiding the accumulation of ore in the flexible channel, thereby affecting the working effect and efficiency of the collection mechanism.

[0015] The above-mentioned deep-sea mining vehicle for bidirectional mining preferably further includes a four-bar linkage translation mechanism for connecting the hydraulic collection mechanism and the frame, the four-bar linkage translation mechanism includes a connecting rod and a telescopic cylinder for adjusting the horizontal height of the hydraulic collection mechanism, and the telescopic cylinder is connected to the connecting rod.

[0016] The four-link translation mechanism connects the hydraulic collection mechanism and the frame, so that the hydraulic collection mechanism and the frame form an integral structure. The four-link translation mechanism is provided with a telescopic cylinder for adjusting the horizontal height of the hydraulic collection mechanism, which can adjust the hydraulic collection mechanism to adapt to terrains of different heights, thereby enhancing the reliability of the hydraulic collection mechanism and ensuring that all ore in the forward direction of the deep-sea mining vehicle can be mined.

[0017] The above-mentioned deep-sea mining vehicle for bidirectional mining preferably further comprises a hydraulic system for providing power to the crawler-type traveling mechanism, and the hydraulic system is installed on the vehicle frame. The hydraulic system has good stability, and the hydraulic system is used to provide power to the crawler-type traveling mechanism and control the forward direction of the mining vehicle, so as to ensure that the crawler-type traveling mechanism can travel normally in a complex deep-sea environment.

[0018] The above-mentioned two-way mining deep-sea mining vehicle preferably also includes a buoyancy body for reducing the ground pressure of the deep-sea mining vehicle and improving the stability of the deep-sea mining vehicle, and a thruster for adjusting the descent posture of the deep-sea mining vehicle into the water, wherein the buoyancy body is installed on the upper layer of the frame, and the thruster is arranged at the corner point of the frame.

[0019] The buoyancy body can adjust the buoyancy state of the deep-sea mining vehicle during operation, improve the ground pressure ratio of the deep-sea mining vehicle, and ensure the stability of the deep-sea mining vehicle working in the deep sea. The thruster and the frame are connected at a 45° angle, which can distribute the thrust and control the posture and direction of the deep-sea mining vehicle entering the water.

[0020] As a general technical concept, the present invention also provides a method for mining deep-sea ore using the above-mentioned two-way mining deep-sea mining vehicle, comprising the following steps: S1: Divide the mining area into one or more working areas, wherein the working area includes a plurality of parallel straight mining sections, both ends of the straight mining sections are provided with terminal extension sections, and a change-track mining section is provided between adjacent terminal extension sections of adjacent straight mining sections; all working areas may adopt the above setting method; S2: A working area for mining is determined, and the deep-sea mining vehicle starts from a designated position, which is an end extension section of a straight mining section at the edge, so that the deep-sea mining vehicle moves on the straight mining section, and the hydraulic collection mechanism on the side of the deep-sea mining vehicle moving in the direction of movement works, while the hydraulic collection mechanism on the side opposite to the moving direction of the deep-sea mining vehicle does not work; S3: When the deep-sea mining vehicle moves to the other end extension section of the straight mining section, the deep-sea mining vehicle moves along the lane-changing mining section to the end extension section at the end of another straight mining section (i.e., a straight mining section adjacent to the straight mining section in step S2) (the end extension section is adjacent to the end extension section of the straight mining section in step S2), and then moves along the other straight mining section to the other end extension section of the straight mining section, and when moving along the lane-changing mining section, the deep-sea mining vehicle moves in the reverse direction without turning around (which can be achieved by changing the travel direction of the crawler-type travel mechanism), and when moving along the other straight mining section to the other end extension section, the deep-sea mining vehicle keeps moving in the reverse direction, and when moving in the reverse direction, the hydraulic collection mechanism on the side of the deep-sea mining vehicle in the travel direction works, while the hydraulic collection mechanism on the side opposite to the travel direction of the deep-sea mining vehicle does not work (i.e., the working mode is opposite to that in step S2); S4: Repeat step S3 until the mining of the entire working area is completed; S5: Repeat the above steps S2-S4 until the mining of several working areas is completed (if there is only one working area, the mining is completed after step S4).

[0021] Compared with the prior art, the advantages of the present invention are: The two-way mining deep-sea mining vehicle and mining method thereof of the present invention adopt a two-way walking crawler walking mechanism to drive the deep-sea mining vehicle to walk in both directions, and hydraulic collection mechanisms are arranged at the front and rear ends of the frame. Mining can be completed by simply changing the forward direction of the crawler walking mechanism and controlling the corresponding hydraulic collection mechanism to work, thereby avoiding the slipping problem caused by the turning of traditional mining vehicles from the source and reducing the entanglement rate of pipelines and armored cables caused by traditional mining methods; in addition, it can also effectively improve the collection rate and work efficiency of the mining vehicle, reduce the loss of ore omissions, and enhance the walking stability and structural reliability of the mining vehicle, making it more suitable for large-scale commercial mining. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a schematic structural diagram of the deep-sea mining vehicle of the present invention.

[0024] Figure 2 It is a schematic structural diagram of the hydraulic collection mechanism of the deep-sea mining vehicle of the present invention.

[0025] Figure 3 This is a schematic diagram of the mining path of the deep-sea mining vehicle of the present invention.

[0026] Figure 4 This is a mining flow chart of the deep-sea mining vehicle of the present invention.

[0027] Legend 1. Frame; 2. Crawler walking mechanism; 3. Hydraulic collection mechanism; 31. Front-end collection mechanism; 311. Front-end collection head; 312. Front-end flexible channel; 32. Rear-end collection mechanism; 321. Rear-end collection head; 322. Rear-end flexible channel; 4. Four-bar translation mechanism; 41. Connecting rod; 42. Telescopic cylinder; 5. Hydraulic system; 6. Control system; 7. Buoyancy body; 8. Solenoid three-way valve; 81. Left end channel; 82. Right end channel; 83. Upper end channel; 84. Solenoid valve; 9. Suction pump; 10. Conveying hose; 11. Thruster; 12. Straight mining section; 121. Terminal extension section; 13. Changing mining section. DETAILED DESCRIPTION

[0028] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively and meticulously below in conjunction with the accompanying drawings and preferred embodiments of the present invention, but the protection scope of the present invention is not limited to the following specific embodiments.

[0029] It should be noted that when an element is described as being "fixed, fixed, connected or connected to" another element, it can be directly fixed, fixed, connected or connected to the other element, or it can be indirectly fixed, fixed, connected or connected to the other element through other intermediate connectors.

[0030] Unless otherwise defined, all the professional terms used below have the same meanings as those generally understood by those skilled in the art. The professional terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the scope of protection of the present invention.

[0031] Unless otherwise specified, various raw materials, reagents, instruments and equipment used in the present invention can be purchased from the market or prepared by existing methods.

[0032] Example: like Figure 1 and Figure 2As shown, the bidirectional deep-sea mining vehicle of this embodiment comprises a vehicle frame 1, a crawler-type walking mechanism 2 for driving the deep-sea mining vehicle to walk bidirectionally, and a hydraulic collection mechanism 3 for collecting seabed ore. The vehicle frame 1 is mounted on the crawler-type walking mechanism 2, and the front and rear ends of the vehicle frame 1 are provided with hydraulic collection mechanisms 3, and the hydraulic collection mechanisms 3 at the front and rear ends work in the following manner: the hydraulic collection mechanism 3 on the side of the mining vehicle in the direction of travel works, while the hydraulic collection mechanism 3 on the side in the opposite direction of travel of the mining vehicle does not work.

[0033] In this embodiment, the outlets of the hydraulic collection mechanisms 3 at the front and rear ends converge at the middle of the frame 1 to a conveying mechanism for conveying the collected seabed ore to the relay station, and a regulating component is provided at the converging point for adjusting whether the hydraulic collection mechanisms 3 at the front and rear ends are connected to the conveying mechanism according to the working status of the hydraulic collection mechanisms 3 at the front and rear ends; the regulating component works in the following manner: the hydraulic collection mechanism 3 in the working state is connected to the conveying mechanism, and the hydraulic collection mechanism 3 in the stopped state is not connected to the conveying mechanism.

[0034] In this embodiment, the hydraulic collection mechanisms 3 at the front and rear ends are respectively a front-end collection mechanism 31 and a rear-end collection mechanism 32. The front-end collection mechanism 31 includes a front-end collection head 311 and a front-end flexible channel 312, which are connected to each other. The rear-end collection mechanism 32 includes a rear-end collection head 321 and a rear-end flexible channel 322, which are connected to each other. The outlets of the front-end collection mechanism 31 and the rear-end collection mechanism 32 are converged to the regulating component.

[0035] In this embodiment, the control component is an electromagnetic three-way valve 8, which is connected to the control system 6 of the deep-sea mining vehicle and is signal-interlocked with the crawler-type walking mechanism 2 and the hydraulic collection mechanism 3. In this embodiment, the electromagnetic three-way valve 8, the control system 6, etc. can all adopt existing conventional equipment.

[0036] In this embodiment, the electromagnetic three-way valve 8 includes a left end channel 81, a right end channel 82, an upper end channel 83 and a solenoid valve 84 for controlling the channel connection direction. The left end channel 81 is connected to the front end flexible channel 312, the right end channel 82 is connected to the rear end flexible channel 322, the upper end channel 83 is connected to the conveying mechanism, and the electromagnetic valve 84 is arranged at the intersection of the left end channel 81, the right end channel 82 and the upper end channel 83.

[0037] In this embodiment, the conveying mechanism includes a suction pump 9 and a conveying hose 10. The suction pump 9 is arranged above the upper end channel 83. One end of the conveying hose 10 is connected to the suction pump 9, and the other end of the conveying hose 10 is connected to the relay station. The conveying hose 10 is then transported to the surface support mother ship through the relay station and the conveying hard pipe.

[0038] In this embodiment, a four-link translation mechanism 4 is also included for connecting the hydraulic collection mechanism 3 and the frame 1. The four-link translation mechanism 4 includes a connecting rod 41 and a telescopic cylinder 42 for adjusting the horizontal height of the hydraulic collection mechanism 3. The telescopic cylinder 42 is connected to the connecting rod 41.

[0039] In this embodiment, a hydraulic system 5 is provided for providing power to the crawler-type traveling mechanism 2, and the hydraulic system 5 is installed on the vehicle frame 1. The crawler-type traveling mechanism 2 of this embodiment can be made of conventional existing equipment as long as it can realize forward and reverse traveling. The specific structure of the hydraulic system 5 is also not limited.

[0040] In this embodiment, a buoyancy body 7 for reducing the ground pressure of the mining vehicle and improving the stability of the mining vehicle and a thruster 11 for adjusting the descending posture of the mining vehicle into the water are also included. The buoyancy body 7 is installed on the upper layer of the vehicle frame 1, and the thruster 11 is arranged at the corner point of the vehicle frame 1 and forms an angle of 45° with the vehicle frame 1. The specific structures of the buoyancy body 7 and the thruster 11 are not limited, as long as the functions of this embodiment can be achieved.

[0041] like Figure 3 As shown, the method for mining deep-sea ore using the above-mentioned two-way mining deep-sea mining vehicle in this embodiment includes the following steps: S1: Divide the mining area into one or several working areas ( Figure 3 The figure shows the mining process of a working area, the working area includes a plurality of parallel straight mining sections 12, both ends of the straight mining sections 12 are provided with end extension sections 121, and a change-track mining section 13 is provided between adjacent end extension sections 121 of adjacent straight mining sections 12.

[0042] S2: A working area for mining is determined. The deep-sea mining vehicle starts from a designated position, which is an end extension section 121 (i.e., Figure 3 The bottommost straight mining section 12 in the embodiment of the present invention is formed by a plurality of channels, each of which is connected to the upper channel 83. The bottommost straight mining section 12 ...

[0043] S3: When the deep-sea mining vehicle reaches the other end extension section 121 of the straight mining section 12 (i.e. the left end extension section 121 of the lowest straight mining section 12), the deep-sea mining vehicle moves along the lane-changing mining section 13 (i.e. Figure 3The mining section 13 between the lowermost straight mining section 12 and the terminal extension section 121 adjacent to the left of the straight mining section 12 adjacent to the upper part thereof) moves to the terminal extension section 121 at the end of another straight mining section 12 (i.e. Figure 3 The second straight mining section 12 in the middle and lower part is connected to the left end extension section 121, and then along another straight mining section 12 (i.e. Figure 3 The second straight mining section 12 in the middle and lower part) moves to the other end extension section 121 of the straight mining section 12 (i.e. Figure 3 The deep-sea mining vehicle is on the terminal extension section 121 on the right side of the second straight mining section 12 in the middle and lower part, and when moving along the lane-changing mining section 13, the deep-sea mining vehicle moves in the reverse direction without turning around. When moving along another straight mining section 12 to the other end extension section 121, the deep-sea mining vehicle keeps moving in the reverse direction, which is achieved by changing the travel direction of the crawler travel mechanism 2. When moving in the reverse direction, the hydraulic collection mechanism 3 on the side of the deep-sea mining vehicle in the travel direction works, and the side channel is connected to the upper end channel 83; while the hydraulic collection mechanism 3 on the side opposite to the travel direction of the deep-sea mining vehicle does not work, and the side channel is closed.

[0044] S4: Repeat step S3 until the mining of the entire working area is completed.

[0045] S5: Repeat the above steps S2-S4 until the mining of several working areas is completed.

[0046] More specifically, Figure 3 and Figure 4 As shown, the mining method may include the following steps: During deep-sea mining operations, a mining area is divided into several working areas. When a deep-sea mining vehicle arrives at a designated working area, it first determines the initial mining position and then starts walking mining operations from the initial position. The mining operations include a repetitive process of a straight mining section 12 and a changing mining section 13 until the mining path of the mining vehicle covers the entire working area, indicating that the mining is completed, and then the mining of the next working area is carried out.

[0047] More specifically, in step one, the deep-sea mining vehicle starts from the initial position, the crawler walking mechanism 2 moves forward, operates along the straight mining section 12, and the front-end collection mechanism 31 starts to work. At this time, the electromagnetic three-way valve 8 receives a water pressure signal, the electromagnetic valve 84 opens, and the left end channel 81 and the upper end channel 83 are connected until the front-end collection mechanism 31 moves to the end of the extension section of the straight mining section 12.

[0048] Step 2: the front-end collection mechanism 31 stops working, the crawler walking mechanism 2 reverses and moves, and the rear-end collection mechanism 32 starts working. At this time, the right end channel 82 and the upper end channel 83 of the electromagnetic three-way valve 8 are connected, and the deep-sea mining vehicle moves along the first section of the changing mining section 13 to the initial position of the next second section of the straight mining section 12.

[0049] Step three, the deep-sea mining vehicle continues to move along the second straight mining section 12, and the rear-end collection mechanism 32 continues to work. At this time, the right end channel 82 and the upper end channel 83 of the electromagnetic three-way valve 8 remain connected until the end extension section 121 of the second straight mining section 12.

[0050] Step four, the rear-end collecting mechanism 32 stops working, the crawler walking mechanism 2 moves forward, and the front-end collecting mechanism 31 starts working. At this time, the left end channel 81 and the upper end channel 83 of the electromagnetic three-way valve 8 are connected, and the mining vehicle moves along the second section of the changing mining section 13 to the initial position of the third section of the straight mining section 12.

[0051] The entire mining process repeats steps 1 to 4 to complete the mining of ore in the entire working area.

[0052] In this embodiment, the seabed mining vehicle is a two-way mining vehicle, and hydraulic collection mechanisms 3 are provided at the front and rear ends of the mining vehicle. When the mining vehicle moves forward, the front collection mechanism 31 in the forward direction starts to work, and the four-link translation mechanism 4 adjusts the rear collection mechanism 32 through the telescopic cylinder 42, and translates and lifts it to a suitable position to avoid the rear collection mechanism 32 being affected by the terrain. At this time, the rear collection mechanism 32 does not participate in the operation. The suction pump 9 starts the suction work, and when the electromagnetic three-way valve 8 receives the water pressure signal, the electromagnetic valve 84 opens, so that the left end channel 81 is connected with the upper end channel 83. At this time, the ore flows to the electromagnetic three-way valve 8 through the front collection head 311 and the front flexible channel 312, and is finally transported to the relay station through the conveying hose 10. On the contrary, when the mining vehicle moves in the reverse direction to collect, the rear-end collection mechanism 32 starts to work, and the front-end collection mechanism 31 does not participate in the operation at this time. The suction pump 9 starts to suck. When the electromagnetic three-way valve 8 receives the water pressure signal, the electromagnetic valve 84 opens, so that the right end channel 82 is connected with the upper end channel 83. At this time, the ore flows to the electromagnetic three-way valve 8 through the rear-end collection head 321 and the rear-end flexible channel 322, and is finally transported to the relay station through the conveying hose 10.

[0053] The bidirectional deep-sea mining vehicle and mining method of the present embodiment adopts a bidirectional crawler-type walking mechanism 2 to drive the deep-sea mining vehicle to walk in both directions, and hydraulic collection mechanisms 3 are arranged at the front and rear ends of the frame 1. Mining can be completed by simply changing the forward direction of the crawler-type walking mechanism 2 and controlling the corresponding hydraulic collection mechanism 3 to work, thereby avoiding the slipping problem caused by the turning of traditional mining vehicles from the source, and reducing the entanglement rate of pipelines and armored cables caused by traditional mining methods; in addition, it can also effectively improve the collection rate and work efficiency of the mining vehicle, reduce the loss of ore omissions, and improve the walking stability and structural reliability of the mining vehicle, making it more suitable for large-scale commercial mining.

Claims

1. A deep-sea mining vehicle for two-way mining, characterized in that: The invention comprises a vehicle frame (1), a crawler-type walking mechanism (2) for driving a deep-sea mining vehicle to walk in two directions, and a hydraulic collection mechanism (3) for collecting seabed ore. The vehicle frame (1) is mounted on the crawler-type walking mechanism (2). The hydraulic collection mechanisms (3) are provided at both the front and rear ends of the vehicle frame (1). The hydraulic collection mechanisms (3) at the front and rear ends operate in the following manner: the hydraulic collection mechanism (3) on the side in the direction of travel of the deep-sea mining vehicle operates, while the hydraulic collection mechanism (3) on the side in the opposite direction of travel of the deep-sea mining vehicle does not operate.

2. The deep-sea mining vehicle for bidirectional mining according to claim 1, characterized in that: The outlets of the hydraulic collection mechanisms (3) at the front and rear ends converge at the middle of the vehicle frame (1) to a conveying mechanism for conveying the collected seabed ore to a relay station, and a regulating component is provided at the convergence point for adjusting whether the hydraulic collection mechanisms (3) at the front and rear ends are connected to the conveying mechanism according to the working state of the hydraulic collection mechanisms (3) at the front and rear ends; the regulating component works in the following manner: the hydraulic collection mechanism (3) in the working state is connected to the conveying mechanism, and the hydraulic collection mechanism (3) in the stopped state is not connected to the conveying mechanism.

3. The deep-sea mining vehicle for bidirectional mining according to claim 2, characterized in that: The hydraulic collection mechanisms (3) at the front and rear ends are respectively a front collection mechanism (31) and a rear collection mechanism (32); the front collection mechanism (31) comprises a front collection head (311) and a front flexible channel (312); the front collection head (311) and the front flexible channel (312) are connected; the rear collection mechanism (32) comprises a rear collection head (321) and a rear flexible channel (322); the rear collection head (321) and the rear flexible channel (322) are connected; the outlets of the front collection mechanism (31) and the rear collection mechanism (32) are gathered to the regulating component.

4. The deep-sea mining vehicle for bidirectional mining according to claim 2, characterized in that: The regulating component is an electromagnetic three-way valve (8), which is connected to the control system (6) of the deep-sea mining vehicle and is signal-interlocked with the crawler-type walking mechanism (2) and the hydraulic collection mechanism (3).

5. The deep-sea mining vehicle for bidirectional mining according to claim 4, characterized in that: The electromagnetic three-way valve (8) comprises a left end channel (81), a right end channel (82), an upper end channel (83) and an electromagnetic valve (84) for controlling the communication direction of the channels; the left end channel (81) is connected to the front end flexible channel (312), the right end channel (82) is connected to the rear end flexible channel (322), the upper end channel (83) is connected to the conveying mechanism, and the electromagnetic valve (84) is arranged at the intersection of the left end channel (81), the right end channel (82) and the upper end channel (83).

6. The deep-sea mining vehicle for bidirectional mining according to claim 5, characterized in that: The conveying mechanism comprises a suction pump (9) and a conveying hose (10); the suction pump (9) is arranged above the upper end channel (83); one end of the conveying hose (10) is connected to the suction pump (9); and the other end of the conveying hose (10) is connected to a relay station.

7. The deep-sea mining vehicle for bidirectional mining according to any one of claims 1 to 6, characterized in that: It also comprises a four-link translation mechanism (4) for connecting the hydraulic collection mechanism (3) and the vehicle frame (1), the four-link translation mechanism (4) comprising a connecting rod (41) and a telescopic oil cylinder (42) for adjusting the horizontal height of the hydraulic collection mechanism (3), the telescopic oil cylinder (42) being connected to the connecting rod (41).

8. The deep-sea mining vehicle for bidirectional mining according to any one of claims 1 to 6, characterized in that: It also includes a hydraulic system (5) for providing power to the crawler-type walking mechanism (2), wherein the hydraulic system (5) is mounted on the vehicle frame (1).

9. The deep-sea mining vehicle for bidirectional mining according to any one of claims 1 to 6, characterized in that: It also comprises a buoyancy body (7) for reducing the ground pressure of the deep-sea mining vehicle and improving the stability of the deep-sea mining vehicle, and a thruster (11) for adjusting the descent posture of the deep-sea mining vehicle into the water. The buoyancy body (7) is installed on the upper layer of the vehicle frame (1), and the thruster (11) is arranged at a corner point of the vehicle frame (1).

10. A method for mining deep-sea ore using a deep-sea mining vehicle capable of bidirectional mining as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1: Divide the mining area into one or more working areas, wherein the working area includes a plurality of parallel linear mining sections (12), each end of the linear mining section (12) is provided with an end extension section (121), and a change-track mining section (13) is provided between adjacent end extension sections (121) of adjacent linear mining sections (12); S2: A working area for mining is determined, and the deep-sea mining vehicle starts from a designated position, which is an end extension section (121) of a straight mining section (12) at the edge, so that the deep-sea mining vehicle moves on the straight mining section (12), and the hydraulic collection mechanism (3) on the side of the deep-sea mining vehicle moving in the direction of movement works, while the hydraulic collection mechanism (3) on the side opposite to the direction of movement of the deep-sea mining vehicle does not work; S3: When the deep-sea mining vehicle moves to the other end extension section (121) of the straight mining section (12), the deep-sea mining vehicle moves along the lane-changing mining section (13) to the end extension section (121) at the end of another straight mining section (12), and then moves along another straight mining section (12) to the other end extension section (121) of the straight mining section (12), and when moving along the lane-changing mining section (13), the deep-sea mining vehicle moves in the reverse direction without turning around, and when moving along another straight mining section (12) to the other end extension section (121), the deep-sea mining vehicle keeps moving in the reverse direction. When moving in the reverse direction, the hydraulic collection mechanism (3) on the side of the deep-sea mining vehicle in the direction of travel works, while the hydraulic collection mechanism (3) on the side opposite to the direction of travel of the deep-sea mining vehicle does not work; S4: Repeat step S3 until the mining of the entire working area is completed; S5: Repeat the above steps S2-S4 until the mining of several working areas is completed.

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