A comb-shaped shovel rotary collection vehicle for seabed ore particles and a collection method thereof

Abstract

The present invention discloses a seabed ore particle comb-shaped shovel rotary collection vehicle and a collection method. The collection vehicle comprises an ore particle collection device, an ore box docked with the ore particle collection device, and an ore particle transportation channel connected to the ore box; the ore particle collection device comprises a conveyor belt, a comb-shaped shovel, a soft protrusion, a net bag, a driving motor and a synchronous belt; after the collection vehicle arrives at the ore collection operation area, a certain conveyor belt speed, a collection vehicle forward speed and a comb-shaped shovel immersion depth are set, and while the collection vehicle moves forward, the conveyor belt carries the comb-shaped shovel for periodic rotation operation, and the polymetallic nodule mineral particles are excavated through the interaction between the comb-shaped shovel and the seabed surface sediments; the comb-shaped shovel of the present invention can interact with the sediments through a mechanical structure at a maximum speed of 10 rpm to directly excavate the ore particles. Compared with the traditional hydraulic method, the collection vehicle can effectively collect fully buried and irregular ore particles, thereby improving the efficiency of seabed ore particle collection operations.

Description

Technical Field

[0001] The invention belongs to the technical field of collection devices, and in particular relates to a comb-shaped shovel rotary collection vehicle for seabed ore particles and a collection method. Background Art

[0002] The vast deep sea contains rich mineral resources with many types, large reserves and high grade. It has great prospects for development and utilization. It is considered to be the most important alternative resource for land minerals in the 21st century and has become an important strategic goal of all countries. Polymetallic nodules are a type of proven seabed mineral species with great experience value and development potential, distributed at seabeds of hundreds to thousands of meters. Studies on the environmental impact of deep-sea mining have shown that deep-sea mining will inevitably have a negative impact on deep-sea biodiversity and ecosystems in a local area. Therefore, in the process of deep-sea mining, it is necessary to take into account both high collection efficiency and low environmental impact. At present, deep-sea mining equipment can be roughly divided into two types of ore collection methods: hydraulic and mechanical, according to different collection principles.

[0003] The problems with the existing collection devices are as follows: 1. Most of the existing technologies describe hydraulic ore collection methods and lack innovation for specific mechanical collection methods. 2. Most of the existing technologies only evaluate one of the ore particle collection capacity and environmental disturbance capacity, and no comprehensive evaluation research on the two has been carried out. 3. Most of the existing patented technologies in the field of seabed mining machinery propose optimization of mechanical lifting technology and lack innovation in ore collection modules. 4. The existing technology does not have a modular design function, and specific parts cannot be replaced, and it is impossible to achieve flexible adaptation to various operating environments and parameter optimization. 5. The existing technology lacks the design and application of comb-shovel-type ore collection devices, and has not fully explored the potential and role of this type of mechanical ore collection method. Summary of the invention

[0004] The present invention provides a seabed ore particle comb shovel rotary collection vehicle and a collection method, which solves the problem that existing deep-sea mining devices are subject to large environmental disturbances and low operating efficiency. The technical solution of the present invention realizes the direct collection of granularly distributed polymetallic nodule ore particles without cutting or crushing, and uses a comb shovel structure to directly dig ore particles from sediments.

[0005] To solve the above problems, the technical solution provided by the present invention is as follows:

[0006] An embodiment of the present invention provides a seabed ore particle comb shovel rotary collection vehicle, comprising an ore particle collection device (2), an ore box (3) docked with the ore particle collection device (2), and an ore particle transportation channel (4) connected to the ore box (3), wherein the ore box (3) is used to receive the ore particles collected by the ore particle collection device (2), and the ore particle transportation channel (4) is used to transport the ore particles in the ore box (3) to the coast or to a ship on the sea surface;

[0007] The mineral particle collection device (2) comprises a conveyor belt (6), a fixed bracket (7), a plurality of comb-shaped shovels (8), soft protrusions (9), a net bag (10), a frame structure (11), a drive motor (12) and a synchronous belt (13); the fixed bracket (7) is used to fix the conveyor belt on the front side of the collection vehicle (1) at an angle of 45 degrees, the frame structure (11) is fixed on both sides of the conveyor belt (6), the drive motor (12) is fixed on the top of the frame structure (11), and the output shaft of the drive motor (12) is connected to the rotating shaft of the conveyor belt (6) through the synchronous belt (13); The comb-shaped shovels (8) are connected to the conveyor belt (6) at equal intervals through soft protrusions (9), and there are 12 soft protrusions (9) on the conveyor belt (6). Three groups of the comb-shaped shovels (8) can be installed horizontally on each soft protrusion (9); the comb-shaped shovels (8) are used to penetrate deep-sea sediments to achieve the purpose of collection; the soft protrusions (9) are used to provide better buffering and adapt to different seabed terrains; the net bag (10) is arranged on the back of the conveyor belt (6), and the net bag (10) is used to penetrate fine-grained sediments and block and temporarily store large-grained minerals during the mining process.

[0008] In an optional embodiment of the present invention, a micro motor is provided at the joint of the comb-shaped shovel (8), and the micro motor is used to adjust the gap, extension distance and angle of the comb-shaped shovel (8).

[0009] In an optional embodiment of the present invention, the collection vehicle (1) is equipped with a camera and a sensor module, which are used to input signals of the environment surrounding the seabed ore particles, and adjust the movement parameters of the comb shovel through the micro motor according to the thickness, hardness and turbidity characteristics of the seabed surface sediments.

[0010] According to an optional embodiment of the present invention, each comb-shaped shovel (8) is provided with a plurality of L-shaped rake tooth structures in an array; the L-shaped rake tooth structure comprises a connecting structure (8-1), a plurality of branch components (8-2) arranged at intervals on the connecting structure (8-1), and a tooth structure (8-4) connected to the branch components (8-2) at a preset angle, wherein the preset angle is 45° to 135°; the connecting structure (8-1) is provided with two circular holes (8-3), and two bolts are passed through the two circular holes (8-3) to fix the connecting structure (8-1) to the soft protrusion (9); and a circular arc structure with a radius of 2 mm is provided on the outer side and the inner side of the connection between the branch components (8-2) and the tooth structure (8-4).

[0011] In an optional embodiment of the present invention, the length of the connecting structure (8-1) is 93.2 mm and the width is 15 mm, the widths of the branch component (8-2) and the toothed structure (8-4) are 4.76 mm, and the length of the branch component (8-2) is 50 mm.

[0012] In an optional embodiment of the present invention, the collection vehicle (1) is also provided with a control system of a six-degree-of-freedom robotic arm, and the control system of the six-degree-of-freedom robotic arm is used to control the forward speed and direction of the collection vehicle.

[0013] In an optional embodiment of the present invention, two track wheels (5) are arranged on both sides of the bottom of the collection vehicle (1).

[0014] In an optional embodiment of the present invention, two cross beams (14) are connected to the front side of the frame structure (11), and a plurality of through holes (15) are provided on the top of the frame structure (11), wherein the through holes (15) are used for adapting the mineral particle collection device (2) to the six-degree-of-freedom robotic arm of the control system of the six-degree-of-freedom robotic arm.

[0015] The present invention also provides a method for collecting seabed ore particles by a comb-shaped shovel rotary type, which is implemented by a seabed ore particle comb-shaped shovel rotary type collecting vehicle of the above embodiment, and includes the following steps:

[0016] Step 1, collecting seabed ore particles: after the collecting vehicle arrives at the ore collection operation area, a certain rotation speed of the conveyor belt (6), the forward speed of the collecting vehicle (1) and the immersion depth of the comb shovel (8) are set, and while the collecting vehicle (1) is moving forward, the conveyor belt (6) and the comb shovel (8) are periodically rotated, and the polymetallic nodule mineral particles are excavated through the interaction between the comb shovel (8) and the seabed surface sediments; after the polymetallic nodule mineral particles pass through the top high point of the conveyor belt (6), they are transferred to the ore box (3), and the ore particle transportation channel (4) The ore particles in the ore box (3) are transported to the coast or to a ship on the sea surface; part of the ore particles fall from the comb-shaped shovel (8) into the net bag (10), which plays a role in temporarily storing the ore particles. At the same time, the adhered sediment falls from the comb-shaped shovel (8) and returns to the seabed through the net bag (10); the net bag (10) and the ore particle collection device (2) are hinged by a connecting rod. When the mass of the ore particles in the net bag (10) reaches a threshold value, the net bag (10) automatically flips due to the force, and the stored ore particles fall into the ore box (3);

[0017] Step 2, height and posture adjustment of the particle collection device (2): the camera and sensor module mounted on the collection vehicle (1) input signals of the surrounding environment, and according to the characteristics of the thickness, hardness and turbidity of the current surface sediment, the movement parameters of the comb shovel (8) are adjusted by the micro motor; according to the seabed topography information obtained by the control system of the six-degree-of-freedom robotic arm mounted on the collection vehicle (1), the position and posture of the particle collection device (2) are adjusted and the forward speed of the collection vehicle (1) is set.

[0018] Compared with the prior art, the embodiment of the present invention provides a seabed ore particle comb shovel rotary collection vehicle and collection method, which has the following beneficial effects:

[0019] (1) Compared with the traditional hydraulic ore collection method, the collection process of the present invention has less environmental disturbance. The comb-shovel type ore particle collection device does not require tail discharge, nor does it need to use a water pump for jet mining, so the environmental disturbance is relatively small. At the same time, the use of a comb-shovel with a large gap instead of a solid plate for collection can significantly reduce the impact of the comb-shovel on the sediment in the interaction between the mechanical structure and the sediment.

[0020] (2) The mineral collection efficiency of the present invention is relatively high. The comb-shaped shovel equipped with the mineral particle collection device can directly excavate the mineral particles at a maximum rotation speed of 10 rpm through the interaction between the mechanical structure and the sediment. Compared with the traditional hydraulic method, the collection vehicle can effectively collect completely buried and irregular mineral particles, thereby improving the collection operation efficiency.

[0021] (3) Compared with the traditional hydraulic ore collection method, the ore particle collection device of the present invention has high reliability. The comb-shovel type ore particle collection device does not require a water pump and a tail pipe, and only uses a conveyor belt structure commonly used in land engineering machinery. The overall structure is relatively simple and can adapt to a variety of working environments and collection targets, and has good reliability. The comb-shovel based on modular design is easy to replace, and the mechanical structure is directly used to dig ore particles from the sediment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments or 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 only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 A schematic structural diagram of a comb-shaped shovel rotary collection vehicle for seabed ore particles provided in an embodiment of the present application.

[0024] Figure 2A schematic structural diagram of a mineral particle collection device of a seabed mineral particle comb shovel rotary collection vehicle provided in an embodiment of the present application.

[0025] Figure 3 A front view of a comb shovel of a mineral particle collection device provided in an embodiment of the present application.

[0026] Figure 4 A side view of a comb shovel of a mineral particle collection device provided in an embodiment of the present application.

[0027] Figure 5 A top view of a comb shovel of a mineral particle collection device provided in an embodiment of the present application.

[0028] Figure 6 A schematic diagram of the operation of a collection vehicle controlled by a control system of a six-degree-of-freedom robotic arm provided in an embodiment of the present application.

[0029] Figure 7 A schematic diagram of a model for simulating deep-sea surface sediment collection provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0031] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a seabed ore particle comb shovel rotary collection vehicle, comprising an ore particle collection device 2, an ore box 3 docked with the ore particle collection device 2, and an ore particle transportation channel 4 connected to the ore box 3. The ore box 3 is used to receive the ore particles collected by the ore particle collection device 2, and the ore particle transportation channel 4 is used to transport the ore particles in the ore box 3 to the coast or to a ship on the sea surface. A special positive displacement pump or gear pump is arranged in the ore particle transportation channel 4. Two crawler wheels 5 are arranged on both sides of the bottom of the collection vehicle 1. The ore particle collection device 2 in this embodiment is arranged on the front side of the collection vehicle 1, the ore box 3 is arranged at the top middle position of the collection vehicle 1, and the ore particle transportation channel 4 is arranged on the rear side of the collection vehicle 1. The ore particle collection device 2 can preferably be connected to the front side of the existing collection vehicle 1 by hanging.

[0032] The mineral particle collection device 2 includes a conveyor belt 6, a fixed bracket 7, a plurality of comb shovels 8, soft protrusions 9, a net bag 10, a frame structure 11, a drive motor 12 and a synchronous belt 13. The fixed bracket 7 is used to fix the conveyor belt on the front side of the collection vehicle 1 at a 45° angle, the frame structure 11 is fixed on both sides of the conveyor belt 6, the drive motor 12 is fixed on the top of the frame structure 11, and the output shaft of the drive motor 12 is connected to the rotating shaft of the conveyor belt 6 through the synchronous belt 13. The comb shovel 8 is connected to the conveyor belt 6 at equal intervals through the soft protrusions 9. There are 12 soft protrusions 9 on the conveyor belt 6. Three groups of soft protrusions 9 can be installed horizontally at each location of the comb shovel 8; the comb shovel 8 is used to penetrate deep-sea sediments to achieve the purpose of collection; the soft protrusions 9 are used to provide better buffering and adapt to different seabed terrains. The net bag 10 is set on the back of the conveyor belt 6. The net bag 10 is used to penetrate fine-grained sediments, block, and temporarily store large-grained minerals during the mining process. Two cross beams 14 are connected to the front side of the frame structure 11, and a plurality of through holes 15 are provided on the top of the frame structure 11. The through holes 15 are used for adapting the mineral particle collection device 2 to the six-degree-of-freedom robotic arm of the control system of the six-degree-of-freedom robotic arm.

[0033] A micro motor is provided at the joint of the comb shovel 8, and the micro motor is used to adjust the gap, extension distance and angle of the comb shovel. The collection vehicle 1 is equipped with a camera and a sensor module, which are used to input signals of the surrounding environment of the seabed ore particles, and adjust the motion parameters of the comb shovel through the micro motor according to the thickness, hardness and turbidity characteristics of the seabed surface sediments. In detail, the micro motor adjusts the structural parameters of the comb shovel through a negative feedback algorithm by receiving the sensor signal and the ore particle collection characteristics under different parameters obtained by the experiment.

[0034] The camera and sensor module of this embodiment includes an infrared sensor, a pressure sensor, and an optical camera, which input information such as the riverbed topography and bottom depth of the external environment, and use a deep learning algorithm to solve parameters such as the depth of the comb shovel into the soil, the extension distance, the gap, the conveyor belt speed, the collection vehicle travel speed, etc. The internal gear assembly is driven by the micro motor at the end to ensure the efficient operation of the mineral particle collection device.

[0035] like Figure 3 , Figure 4 and Figure 5As shown, each comb shovel 8 is arrayed with a plurality of L-shaped rake tooth structures; the L-shaped rake tooth structure includes a connecting structure 8-1, a plurality of branch components 8-2 arranged at intervals on the connecting structure 8-1, and a tooth structure 8-4 connected to the branch component 8-2 at a preset angle, the preset angle being 45° to 135°, preferably 90°; the connecting structure 8-1 is provided with two circular holes 8-3, and two bolts are passed through the two circular holes 8-3 to fix the connecting structure 8-1 on the soft protrusion 9; the outer side and the inner side of the connection between the branch component 8-2 and the tooth structure 8-4 are both provided with an arc structure with a radius of 2mm. Preferably, the length of the connecting structure 8-1 is 93.32mm and the width is 15mm, the width of the branch component 8-2 and the tooth structure 8-4 is 4.76mm, and the length of the branch component 8-2 is 50mm. In other embodiments, the connecting structure 8-1, the branch component 8-2, and the tooth structure 8-4 can be set to other shapes and sizes according to specific circumstances, without specific limitation.

[0036] refer to Figure 6 The collection vehicle 1 is also provided with a control system of a six-degree-of-freedom mechanical arm, which is used to control the forward speed and direction of the collection vehicle. The control system of the six-degree-of-freedom mechanical arm includes a corresponding sensor, a controller and a six-degree-of-freedom mechanical arm. The control system of the six-degree-of-freedom mechanical arm can adjust the position, posture and movement speed of the collection vehicle 1 in six degrees of freedom, and can also indirectly drive the conveyor belt to carry the comb shovel to move periodically.

[0037] The present invention also provides a method for collecting seabed ore particles by a comb-shaped shovel rotary type, which is implemented by a seabed ore particle comb-shaped shovel rotary type collecting vehicle of the above embodiment, and includes the following steps:

[0038] Step 1, collecting seabed ore particles: after the collecting vehicle arrives at the ore collection operation area, a certain speed of the conveyor belt 6, the forward speed of the collecting vehicle 1 and the depth of the comb shovel 8 into the soil are set. While the collecting vehicle 1 is moving forward, the conveyor belt 6 and the comb shovel 8 are periodically rotated, and the polymetallic nodule mineral particles are excavated through the interaction between the comb shovel 8 and the seabed surface sediments; after the polymetallic nodule mineral particles pass through the top high point of the conveyor belt 6, they are transmitted to the ore box 3, and the ore particle transportation channel 4 transports the ore particles in the ore box 3 to the coast or to the sea surface ship; part of the ore particles will fall from the comb shovel 8 into the net bag 10, which plays a role in temporarily storing the mineral particles. At the same time, the adhered sediments fall from the comb shovel 8 and return to the seabed through the net bag 10; the net bag 10 and the ore particle collection device 2 are hinged by a connecting rod. When the mass of the ore particles in the net bag 10 reaches a threshold, the net bag 10 automatically flips due to the force, and the stored ore particles fall into the ore box 3;

[0039] Step 2, height and posture adjustment of the mineral particle collection device 2: the camera and sensor module loaded on the collection vehicle 1 input the signal of the surrounding environment, and the motion parameters of the comb shovel 8 are adjusted by the micro motor according to the characteristics of the current surface sediment thickness, hardness and turbidity; according to the seabed terrain information obtained by the control system of the six-degree-of-freedom robotic arm loaded on the collection vehicle 1, the position and posture of the mineral particle collection device 2 are adjusted and the forward speed of the collection vehicle 1 is set.

[0040] The present invention uses soft protrusions and bolts on the conveyor belt to realize the modular design of the comb shovel, which is convenient for the optimization scheme of the model through the design of different comb shovel structural parameters, and can also replace the required comb shovel according to different working environments. In addition, the motion posture adjustment module can also adjust the depth of the comb shovel into the soil by adjusting the position of the collection vehicle. Combined with the model technology of deep-sea surface sediments, it can verify the excellent mineral particle collection characteristics and sediment disturbance characteristics of the model from multiple angles of comb shovel structural parameters (comb shovel opening angle, comb shovel gap, comb shovel extension distance, etc.), control parameters (conveyor belt speed, model forward speed, comb shovel burying depth, etc.), and environmental parameters (sediment shear strength, mineral particle burial degree, etc.).

[0041] like Figure 7 As shown, the present invention also provides a model for simulating the collection of deep-sea surface sediments. The collection rate of the mineral particle collection device can be measured using the model experimental method. Through dimensionless analysis, the general conclusions of the mineral particle collection characteristics under different parameters are summarized. Based on the Star-CCM+ platform, the mechanism of the mineral particle collection characteristics is explained by numerical simulation. The liquid phase continuity equation used in the model is:

[0042] (1);

[0043] In the formula, subscript f represents the liquid phase; represents the volume fraction, represents density, Represents the velocity vector.

[0044] Used The model equation is:

[0045] (2);

[0046] (3);

[0047] In the formula, is the vector of the average velocity of the fluid particles, is the dynamic viscosity of the fluid, is the turbulent viscosity; ,in , , are model parameters; is the attenuation coefficient; , , is the large eddy time scale, To introduce the environmental dissipation rate The resulting time scale parameter; and is the relevant term of the K-Epsilon model, and For custom items, and Reynolds number related.

[0048] The preparation of simulated deep-sea surface sediments is a necessary step in simulating deep-sea collection in the laboratory, and its production quality and level are directly related to the accuracy and credibility of the experiment. Deep-sea surface sediments should have the characteristics of high water content, high adhesion, and low shear strength. Simulated deep-sea sediments can be made by fully stirring and mixing dry granular soil with a certain amount of clean water, and then shear strength measurement and pre-experimental methods can be used to test whether it meets the requirements. The size of the disturbance can be reflected by the change in the mass of the sediments before and after the mineral particle collection device.

[0049] Turbidity refers to the degree of obstruction caused by a solution to the passage of light. The scattering of light by suspended matter and the absorption of light by solute molecules will cause the turbidity to increase. Therefore, turbidity can be used to measure the mass proportion of insoluble substances in water and is an important water quality indicator. Water samples at corresponding points can be extracted from the turbidity detection positioning bracket through a syringe, and after being fully shaken, they can be transferred to a special test tube for a turbidity meter. The turbidity of the water sample can be measured using a turbidity meter, thereby indirectly reflecting the temporal and spatial evolution of sediments after disturbance through the physical quantity of turbidity.

[0050] Simulated deep-sea surface sediments are easily subject to plastic shear or pressure deformation after being disturbed by model structures and water flow. Therefore, it is impossible to measure soil damage and deformation characteristics such as depression, collapse, thinning, fracture, and slippage through direct contact technology. 3D scanning technology can be introduced to accurately read the surface morphology characteristics of the measured object, and further use post-processing software to generate volume cloud maps. According to the surface morphology of the object, the disturbed deformation characteristics of the sediment such as the volume change before and after can be obtained through further post-processing analysis.

[0051] Real-time monitoring system for sediment disturbance: Use built-in scales to measure the mass change of mineral particles inside the collection vehicle, use turbidity sensors to detect the degree of sediment disturbance caused by the mineral particle collection device, and use the suspended sediment mass caused by mining unit mass of mineral particles as an environmental assessment indicator. Based on the negative feedback algorithm, the speed of the collection vehicle, the rotation speed of the conveyor belt, and the depth of the comb shovel into the soil are automatically adjusted through the speed of the motor to avoid excessive disturbance or low operating efficiency, thereby achieving high-efficiency, low-disturbance collection.

[0052] Furthermore, on the basis of the experiment on the characteristics of mineral particle collection, a digital three-dimensional model suitable for a mechanical seabed mineral particle collection device was established based on the finite volume method, basic fluid control equations and turbulence model principles to simulate the movement. This reveals the spatiotemporal evolution of the flow field, temperature field, and pressure field of the mechanical mineral collection device in the deep-sea environment, as well as the time history information of the turbidity at the monitoring point.

[0053] Based on the above model research method, the suspended mass of sediment caused by mining unit mass of mineral particles is used as an environmental assessment indicator. The mineral particle collection characteristics and sediment disturbance characteristics are linked to optimize and obtain a more reasonable sediment disturbance assessment method.

[0054] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A comb-shaped shovel rotary collection vehicle for seabed ore particles, characterized in that: It comprises a mineral particle collection device (2), a mineral box (3) connected to the mineral particle collection device (2), and a mineral particle transportation channel (4) connected to the mineral box (3), wherein the mineral box (3) is used to receive mineral particles collected by the mineral particle collection device (2), and the mineral particle transportation channel (4) is used to transport the mineral particles in the mineral box (3) to the coast or to a ship on the sea surface; The mineral particle collection device (2) comprises a conveyor belt (6), a fixed bracket (7), a plurality of comb-shaped shovels (8), soft protrusions (9), a net bag (10), a frame structure (11), a drive motor (12) and a synchronous belt (13); the fixed bracket (7) is used to fix the conveyor belt on the front side of the collection vehicle (1) at an angle of 45 degrees; the frame structure (11) is fixed on both sides of the conveyor belt (6); the drive motor (12) is fixed on the top of the frame structure (11); the output shaft of the drive motor (12) is connected to the rotating shaft of the conveyor belt (6) through the synchronous belt (13); the plurality of comb-shaped shovels (8) are connected to the conveyor belt (6) at equal intervals through the soft protrusions (9); the soft There are 12 soft protrusions (9) on the conveyor belt (6), and three groups of comb-shaped shovels (8) are transversely installed on each of the soft protrusions (9); the comb-shaped shovels (8) are used to penetrate deep-sea sediments to achieve the purpose of collection; the soft protrusions (9) are used to provide buffering and adapt to different seabed terrains; the net bag (10) is arranged on the back of the conveyor belt (6), and the net bag (10) is used to penetrate fine-grained sediments and block and temporarily store large-grained minerals during the mining process; the net bag (10) is hinged to the mineral particle collection device (2) through a connecting rod, and when the mass of the mineral particles in the net bag (10) reaches a threshold value, the net bag (10) automatically flips due to the force, and the stored mineral particles fall into the ore box (3); Each comb-shaped shovel (8) is provided with a plurality of L-shaped rake tooth structures in an array; the L-shaped rake tooth structures include a connection structure (8-1), a plurality of branch components (8-2) arranged at intervals on the connection structure (8-1), and a tooth structure (8-4) connected to the branch components (8-2) at a preset angle, wherein the preset angle is 45° to 135°; a micro motor is provided at a joint of the comb-shaped shovel (8), and the micro motor is used to adjust the gap, extension distance and angle of the comb-shaped shovel (8).

2. The seabed ore particle comb shovel rotary collection vehicle according to claim 1, characterized in that: The collection vehicle (1) is equipped with a camera and a sensor module, which are used to input signals of the environment surrounding the seabed ore particles, and adjust the movement parameters of the comb shovel through the micro motor according to the thickness, hardness and turbidity characteristics of the seabed surface sediments.

3. The seabed ore particle comb shovel rotary collection vehicle according to claim 1, characterized in that: The connection structure (8-1) is provided with two circular holes (8-3), and two bolts are used to fix the connection structure (8-1) on the soft protrusion (9) through the two circular holes (8-3); and arc structures with a radius of 2 mm are provided on the outer side and the inner side of the connection between the branch component (8-2) and the toothed structure (8-4).

4. The seabed ore particle comb shovel rotary collection vehicle according to claim 3, characterized in that: The length of the connecting structure (8-1) is 93.2 mm and the width is 15 mm. The widths of the branch component (8-2) and the toothed structure (8-4) are 4.76 mm. The length of the branch component (8-2) is 50 mm.

5. The seabed ore particle comb shovel rotary collection vehicle according to claim 1, characterized in that: The collection vehicle (1) is also provided with a control system for a six-degree-of-freedom mechanical arm, and the control system for the six-degree-of-freedom mechanical arm is used to control the forward speed and direction of the collection vehicle.

6. The seabed ore particle comb shovel rotary collection vehicle according to claim 1, characterized in that: Two track wheels (5) are arranged on both sides of the bottom of the collection vehicle (1).

7. The seabed ore particle comb shovel rotary collection vehicle according to claim 5, characterized in that: The front side of the frame structure (11) is connected to two cross beams (14), and the top of the frame structure (11) is provided with a plurality of through holes (15), wherein the through holes (15) are used for adapting the mineral particle collection device (2) to the six-degree-of-freedom robotic arm of the control system of the six-degree-of-freedom robotic arm.

8. A method for collecting seabed ore particles by a comb-shaped shovel rotary type, which is realized by a seabed ore particle comb-shaped shovel rotary type collecting vehicle as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1, collecting seabed ore particles: after the collecting vehicle arrives at the ore collection operation area, a certain rotation speed of the conveyor belt (6), the forward speed of the collecting vehicle (1) and the immersion depth of the comb shovel (8) are set, and while the collecting vehicle (1) is moving forward, the conveyor belt (6) and the comb shovel (8) are periodically rotated, and the polymetallic nodule mineral particles are excavated through the interaction between the comb shovel (8) and the seabed surface sediments; after the polymetallic nodule mineral particles pass through the top high point of the conveyor belt (6), they are transferred to the ore box (3), and the ore particle transportation channel (4) The ore particles in the ore box (3) are transported to the coast or to a ship on the sea surface; part of the ore particles fall from the comb-shaped shovel (8) into the net bag (10), which plays a role in temporarily storing the ore particles. At the same time, the adhered sediment falls from the comb-shaped shovel (8) and returns to the seabed through the net bag (10); the net bag (10) and the ore particle collection device (2) are hinged by a connecting rod. When the mass of the ore particles in the net bag (10) reaches a threshold value, the net bag (10) automatically flips due to the force, and the stored ore particles fall into the ore box (3); Step 2, height and posture adjustment of the particle collection device (2): the camera and sensor module mounted on the collection vehicle (1) input signals of the surrounding environment, and according to the characteristics of the thickness, hardness and turbidity of the current surface sediment, the movement parameters of the comb shovel (8) are adjusted by the micro motor; according to the seabed topography information obtained by the control system of the six-degree-of-freedom robotic arm mounted on the collection vehicle (1), the position and posture of the particle collection device (2) are adjusted and the forward speed of the collection vehicle (1) is set.

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