Collection head device suitable for multiple terrains

Abstract

The invention relates to the technical field of ocean engineering deep-sea mining equipment, in particular to a collecting head device suitable for multiple terrains, which comprises an information collecting and processing system, a collecting head posture adjusting system, an automatic adsorption system and a nodule collecting system, the information collecting and processing system comprises an angle sensor module, a distance sensor module, a millimeter wave radar module and an information processing module, the collecting head posture adjusting system comprises a roller collecting unit, a multi-stage adjuster and a hydraulic adjusting rod, and the automatic adsorption system comprises a centrifugal pump device, a flexible suction cup and a guide pipe control module. The collecting head posture adjusting system is mainly composed of a roller collecting device and a hydraulic rod piece. The automatic adsorption system is mainly composed of a centrifugal pump, a suction cup collecting head and an electromagnetic valve. According to the collection head, the natural design of an octopus suction cup is used for reference, a circular roller form is adopted, the multiple bionic suction cup modules are arranged on the surface of the collection head in a segmented mode, the layout can be flexibly adjusted according to submarine topography fluctuation, and it is ensured that effective operation can be conducted under flat and rugged terrains.

Description

Technical Field

[0001] The invention relates to the technical field of marine engineering deep-sea mining equipment, and in particular to a collection head device suitable for multiple terrains. Background Art

[0002] As the natural resources on the earth are becoming increasingly depleted, people are beginning to look for new ways to exploit resources. The deep sea is considered to be a potential treasure trove of resources, containing a large number of valuable mineral resources. The development of these resources can bring huge economic benefits to the country and enterprises. Humans can use advanced technology and equipment for deep-sea mining, thereby realizing the development and utilization of deep-sea resources. Polymetallic nodule deposits are a special type of deposit in the deep sea formed by the deposition of metal oxides and other substances on the seabed. Deep-sea polymetallic nodules are a type of seabed mineral rich in a variety of metals (such as manganese, iron, nickel, copper and cobalt, etc.), which are widely distributed in the deep sea areas of the world's oceans. Polymetallic nodules are mainly distributed in the Clarion-Clipperton Fracture Zone (CCZ) in the Pacific Ocean. It is the richest area of ​​polymetallic nodules, with about 420 million tons of metal nodules. In the deep sea area of ​​4,000 to 6,000 meters, they are often found in the sedimentary environment of deep sea plains and basins, especially in places with low sedimentation rates. They are often formed in muddy sediments on the deep seabed. The nodules have various shapes, and the surface is mostly smooth, but there are also rough, ellipsoidal or other irregular shapes. The sizes vary, and the diameter is generally 3-7 cm, the size of a potato, and the mass ranges from a few hundred grams to several kilograms. The abundance distribution varies greatly. In some areas, there are only a few per square meter, while in rich mineral areas, the abundance can reach dozens or even hundreds per square meter. The mining and utilization of polymetallic nodules have potential economic value, but they also face severe challenges in technology and environmental protection. Traditional jet mining is a method that uses high-pressure water flow to break rocks, dissolve ores and produce lean ore. The disadvantage of this method in the mining process is that jet mining is destructive to rocks and the seabed environment, and may affect the balance and stability of the marine ecosystem. Summary of the invention

[0003] The purpose of the present invention is to provide a bionic octopus suction cup type polymetallic nodule collection head device suitable for multiple terrains. The device can accurately adsorb the polymetallic nodules on the surface of the nodule deposit and transport them to the mining vehicle, thereby realizing the efficient collection of nodule ores. Compared with the traditional mining method, the mining method of suction cup adsorbing nodules avoids the damage and impact on the ore deposit and reduces the environmental pressure.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is to provide a collection head device suitable for multiple terrains, including an information collection and processing system, a collection head posture adjustment system, an automatic adsorption system, and a nodule collection system; the information collection and processing system includes an angle sensor module, a distance sensor module, a millimeter wave radar module and an information processing module, the collection head posture adjustment system includes a roller collection unit, a multi-stage regulator, and a hydraulic adjustment rod, and the automatic adsorption system includes a centrifugal pump device, a flexible suction cup and a catheter control module; the collection head posture adjustment system is mainly composed of a roller collector and a hydraulic rod; the automatic adsorption system is mainly composed of a centrifugal pump, a suction cup collection head and a solenoid valve.

[0005] Furthermore, the method of using the device is as follows: Step 1: When the deep-sea mining vehicle is driving in the deep-sea sediment, the information collection and processing system in the mining vehicle's collection device collects various data information, such as the distance sensor module sensing the distance between the collection head device and the ground, the angle sensor module monitoring the angle of the suction cup, and the millimeter-wave radar module detecting the terrain of a small working surface, measuring the nodule abundance and surface characteristics of the working surface, and transmitting the collected data to the information processing module; Step 2: After receiving the collected real-time data, the processing module in the information collection and processing system processes the data through the central processor, and judges the height of the collection device roller collector from the ground, the nodule abundance and the surface diameter of the nodule, and the angle of the suction cup on the collector according to the control algorithm. According to the obtained real-time data, a suitable processing scheme is selected, and a control signal is sent to the collection head posture adjustment system; Step 3: After the collection head posture adjustment system receives the control signal from the control module, it adjusts the appropriate height and speed of the roller module to adapt to different nodule abundance conditions, and then the processing module sends a control signal to the automatic adsorption system; Step 4: After the automatic adsorption system receives the control signal from the control module, the centrifugal pump in the mining vehicle is started, and the nodules are stably adsorbed on the suction cup by adjusting the opening and closing state of the pipe solenoid valve of the suction cup. When the suction cup module for adsorbing nodules reaches a suitable height and angle under the rotation of the drum, the solenoid valve is controlled to close the pipe. After the nodules are separated from the suction cup, the processing module sends a control signal to the nodule collection system; Step 5: The nodule collection system receives the control signal from the control module, and the polymetallic nodules fall into the range of the suction port of the collection bin and are transported to the mining ship through the hydraulic lifting device in the collection system.

[0006] Further, in step 4, when the suction cup is at the top of the roller collector, it is defined as 0 degrees, the roller collector rotates forward, and this direction is the positive direction; when the rotation angle is in the range of 0-105 degrees, the solenoid valve in the suction cup is in a closed state; when the rotation angle is in the range of 105-255 degrees, the solenoid valve in the suction cup is adjusted from a closed state to an open state; when the rotation angle is in the range of 255-360 degrees, the solenoid valve in the suction cup is adjusted from an open state to a closed state.

[0007] Furthermore, the information collection and processing system includes an angle sensor module, a distance sensor module, a millimeter-wave radar module and an information processing module; the distance sensor module mainly senses the distance between the collection head device and the ground, and adjusts the appropriate distance between different roller units and the ground; the millimeter-wave radar can realize terrain detection of a small working surface, measure the nodule abundance and nodule surface characteristics of the working surface, and provide data for adjusting the rotation speed of the roller collector and updating the seabed topographic map.

[0008] Furthermore, the collection head posture adjustment system is composed of a roller collector and hydraulic rods. When encountering different terrains, the roller module is adjusted to a suitable rotation speed and height through the terrain height and nodule abundance data sensed by the information collection system to achieve efficient adsorption of seabed nodules. After the roller adsorbs the nodules, the roller unit is rotated to a suitable height to allow the nodules to fall into the nodule collection system.

[0009] Furthermore, the automatic adsorption system is mainly composed of a centrifugal pump, a suction cup collection head and a solenoid valve. The suction cup on the suction cup collection head is made of nitrile material and is in an accordion shape. There is a protruding structure outside the suction cup channel, so that a gap is left directly between the suction cup and the nodule. When the suction cup collection head on the drum approaches the nodule, the nodule surface feature data provided by the information collection system allows the nodule to be stably adsorbed on the suction cup. When the suction cup adsorbs the nodule, the unit collector rotates to a suitable height, and the solenoid valve in the suction cup is adjusted to close the pipeline, so that the nodule and the suction cup fall off and naturally fall into the suction port range of the nodule collection system.

[0010] Furthermore, the nodule collection system transports the collected nodules to the mining vessel through a hydraulic lift pipeline.

[0011] The beneficial effects of the present invention are: 1. The collection head of the present invention draws on the natural design of the octopus suction cup. Each suction cup unit is made of advanced flexible materials, with high adaptability and strong adsorption force. This design can not only ensure the stable adsorption of polymetallic nodules under variable seabed geological conditions, but also reduce the damage to the seabed ecology and achieve green collection. By integrating micro sensors and actuators, each suction cup can sense the characteristics and adsorption state of the nodule surface, automatically adjust, achieve precise grasping and gentle release, improve operating efficiency while protecting the seabed sediment structure.

[0012] 2. The collection head of the present invention adopts a circular drum, and multiple bionic suction cup modules are arranged in sections on its surface. The layout can be flexibly adjusted according to the ups and downs of the seabed terrain to ensure effective operation in flat, rugged and even gully terrain. The drum structure is rotatable and can actively adapt to changes in the seabed terrain with the intelligent navigation system, increase the contact area, improve the collection efficiency, and reduce the wear and energy consumption of the equipment.

[0013] 3. The present invention integrates high-precision sonar and depth sensors to monitor the distance between the acquisition head and the seabed in real time, as well as subtle changes in the seabed topography. Through advanced algorithm analysis, the device's height from the ground is automatically adjusted to ensure that the suction cup is always in the best working position. The use of acoustic instruments not only improves the accuracy of the operation, but also maintains the safe operation of the equipment in complex environments, avoids collision risks, and protects the marine ecological environment from damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 This is a schematic diagram of the overall structure of the multi-terrain bionic octopus suction cup polymetallic nodule collection head device for the seabed mining vehicle of the present invention. Figure 2 It is a cross-sectional view of the overall structure of the present invention; Figure 3 It is a top view of the overall structure of the present invention; Figure 4 It is a side view of the overall structure of the present invention; Figure 5 It is a front view of the overall structure of the present invention; Figure 6 It is a schematic diagram of the suction cup collector and the solenoid valve of the present invention.

[0016] Description of reference numerals: 1. Information acquisition and processing system; 2. Collection head posture adjustment system; 3. Automatic adsorption system; 4. Nodule collection system; 101. Distance sensor module; 102. Millimeter wave radar module; 103. Angle sensor module; 201. Collector; 202. Hydraulic adjustment rod; 301. Suction cup; 302. Solenoid valve; 303. Catheter control module; 304. Centrifugal pump; 401. Nodule collector channel. DETAILED DESCRIPTION

[0017] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0019] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0021] like Figures 1 to 6The collecting head device suitable for multiple terrains includes an information collecting and processing system 1, a collecting head posture adjustment system 2, an automatic adsorption system 3, and a nodule collection system 4; the information collecting and processing system 1 includes an angle sensor module 103, a distance sensor module 101, a millimeter wave radar module 102, and an information processing module; the collecting head posture adjustment system 2 includes a roller collecting unit, a multi-stage regulator, and a hydraulic adjustment rod 202; the automatic adsorption system 3 includes a centrifugal pump 304 device, a flexible suction cup 301, and a catheter control module 303; the collecting head posture adjustment system 2 is mainly composed of a roller collector 201 and a hydraulic rod; the automatic adsorption system 3 is mainly composed of a centrifugal pump 304, a suction cup 301 collecting head, and a solenoid valve 302.

[0022] The method of using the collection head device suitable for multiple terrains is as follows: Step 1: When the deep-sea mining vehicle is driving and operating in the deep-sea sediments, the information acquisition and processing system 1 located in the mining vehicle's acquisition device collects various data information, the distance sensor module 101 senses the distance between the acquisition head device and the ground, the angle sensor module 103 monitors the angle of the suction cup 301, and the millimeter wave radar module 102 detects the terrain of a small working surface, measures the nodule abundance and nodule surface characteristics of the working surface, and transmits the collected data to the information processing module.

[0023] Step 2: After receiving the collected real-time data, the processing module in the information collection and processing system 1 processes the data through the central processing unit, and judges the height of the collection device roller collector 201 from the ground, the nodule abundance and the surface diameter of the nodules, and the angle of the suction cup 301 on the collector 201 according to the control algorithm. According to the obtained real-time data, a suitable processing scheme is selected, and a control signal is sent to the collection head posture adjustment system 2.

[0024] Step 3: After receiving the control signal from the control module, the collecting head posture adjustment system 2 adjusts the appropriate height and rotation speed of the drum collector 201 to adapt to different nodule abundance conditions. Then the processing module sends a control signal to the automatic adsorption system 3.

[0025] Step 4: After the automatic adsorption system 33 receives the control signal from the control module, when the centrifugal pump 304 in the mining vehicle is started, the nodules are stably adsorbed on the suction cup 301 by adjusting the opening and closing state of the pipeline solenoid valve 302 of the suction cup 301. When the suction cup 301 module that adsorbs the nodules reaches a suitable height and angle under the rotation of the drum, the solenoid valve 302 is controlled to close the pipeline. After the nodules are separated from the suction cup 301, the processing module sends a control signal to the nodule collection system 4.

[0026] When the suction cup 301 is at the top of the roller collector 201, it is defined as 0 degrees, and the roller collector 201 rotates forward, and this direction is the positive direction. When the rotation angle is within the range of 0-105 degrees, the solenoid valve 302 in the suction cup 301 is in a closed state. When the rotation angle is within the range of 105-255 degrees, the solenoid valve 302 in the suction cup 301 is adjusted from a closed state to an open state. S3 When the rotation angle is within the range of 255360 degrees, the solenoid valve 302 in the suction cup 301 is adjusted from an open state to a closed state.

[0027] Step 5: The nodule collection system 4 receives the control signal from the control module, and the polymetallic nodules fall into the range of the suction port of the collection bin and are transported to the mining ship through the nodule collector channel 401 by the hydraulic lifting device in the nodule collection system 4 .

[0028] The information collection and processing system 1 mainly includes a distance sensor mode, a millimeter wave radar module 102, an adsorption strength sensing module and an information processing module. The distance sensor and module mainly sense the distance between the collection head device and the ground, and adjust the appropriate distance between different roller units and the ground; the millimeter wave radar can realize the topography detection of a small working surface and the detection of the surface characteristics of the tuberculosis, and provide data for the adsorption strength collected by the suction cup 301 and the update of the seabed topographic map; the adsorption strength sensing module adjusts the internal pipeline pressure distribution of the suction cup 301 by sensing the pressure inside the suction cup 301.

[0029] The collection head posture adjustment system 2 is mainly composed of multiple roller collection units. When encountering different terrains, the roller modules of each unit are adjusted to a suitable height and rotation speed through the terrain distance data sensed by the information collection system to achieve the adsorption of seabed nodules. After the surface of the roller is fully adsorbed, the roller device is lifted to a suitable height to allow the nodules to fall into the collection device.

[0030] The automatic adsorption system 3 is mainly composed of a suction cup 301 collection head. When the suction cup 301 collection head on the drum is close to the nodule, the surface feature data of the nodule provided by the information collection system is used to adjust the appropriate water absorption strength inside the suction cup 301, so that the nodule can be stably adsorbed on the suction cup 301. When the nodule on the drum is completely adsorbed, the pressure inside the suction cup 301 is released by drainage to release the nodule, so that the nodule falls naturally into the nodule collection device.

[0031] The beneficial effects of the present invention are: 1. The collection head of the present invention draws on the natural design of the octopus suction cup 301. Each suction cup 301 unit is made of advanced flexible materials, which has high adaptability and strong adsorption force. This design can not only ensure the stable adsorption of polymetallic nodules under variable seabed geological conditions, but also reduce the damage to the seabed ecology and achieve green collection. By integrating micro sensors and actuators, each suction cup 301 can sense the characteristics and adsorption state of the nodule surface, automatically adjust, achieve precise grasping and gentle release, improve operating efficiency and protect the seabed sediment structure.

[0032] 2. The collection head of the present invention adopts a circular drum, and a plurality of bionic suction cups 301 modules are arranged in sections on its surface. The layout can be flexibly adjusted according to the ups and downs of the seabed terrain to ensure effective operation in flat, rugged and even gully terrain. The drum structure is rotatable and can actively adapt to changes in the seabed terrain with the intelligent navigation system, increase the contact area, improve the collection efficiency, and reduce the wear and energy consumption of the equipment.

[0033] 3. The present invention integrates high-precision sonar and depth sensors to monitor the distance between the acquisition head and the seabed, as well as subtle changes in the seabed topography in real time. Through advanced algorithm analysis, the height of the device above the ground is automatically adjusted to ensure that the suction cup 301 is always in the best working position. The use of acoustic instruments not only improves the accuracy of the operation, but also maintains the safe operation of the equipment in a complex environment, avoids collision risks, and protects the marine ecological environment from damage.

[0034] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A collection head device suitable for multiple terrains, characterized in that: It includes an information collection and processing system, a collection head posture adjustment system, an automatic adsorption system, and a nodule collection system; the information collection and processing system includes an angle sensor module, a distance sensor module, a millimeter wave radar module, and an information processing module; the collection head posture adjustment system includes a roller collection unit, a multi-stage regulator, and a hydraulic adjustment rod; the automatic adsorption system includes a centrifugal pump device, a flexible suction cup, and a catheter control module; the collection head posture adjustment system is mainly composed of a roller collector and a hydraulic rod; the automatic adsorption system is mainly composed of a centrifugal pump, a suction cup collection head, and a solenoid valve.

2. The multi-terrain collection head device according to claim 1, characterized in that: The device is used as follows: Step 1: When the deep-sea mining vehicle is driving in the deep-sea sediment, the information collection and processing system in the mining vehicle's collection device collects various data information, such as the distance sensor module sensing the distance between the collection head device and the ground, the angle sensor module monitoring the angle of the suction cup, and the millimeter-wave radar module detecting the terrain of a small working surface, measuring the nodule abundance and surface characteristics of the working surface, and transmitting the collected data to the information processing module; Step 2: After receiving the collected real-time data, the processing module in the information collection and processing system processes the data through the central processor, and judges the height of the collection device roller collector from the ground, the nodule abundance and the surface diameter of the nodule, and the angle of the suction cup on the collector according to the control algorithm. According to the obtained real-time data, a suitable processing scheme is selected, and a control signal is sent to the collection head posture adjustment system; Step 3: After the collection head posture adjustment system receives the control signal from the control module, it adjusts the appropriate height and speed of the roller module to adapt to different nodule abundance conditions, and then the processing module sends a control signal to the automatic adsorption system; Step 4: After the automatic adsorption system receives the control signal from the control module, the centrifugal pump in the mining vehicle is started, and the nodules are stably adsorbed on the suction cup by adjusting the opening and closing state of the pipe solenoid valve of the suction cup. When the suction cup module for adsorbing nodules reaches a suitable height and angle under the rotation of the drum, the solenoid valve is controlled to close the pipe. After the nodules are separated from the suction cup, the processing module sends a control signal to the nodule collection system; Step 5: The nodule collection system receives the control signal from the control module, and the polymetallic nodules fall into the range of the suction port of the collection bin and are transported to the mining ship through the hydraulic lifting device in the collection system.

3. The multi-terrain collection head device according to claim 2, characterized in that: In step 4, when the suction cup is at the top of the roller collector, it is defined as 0 degrees, the roller collector rotates forward, and this direction is the positive direction; when the rotation angle is in the range of 0-105 degrees, the solenoid valve in the suction cup is in a closed state; when the rotation angle is in the range of 105-255 degrees, the solenoid valve in the suction cup is adjusted from a closed state to an open state; when the rotation angle is in the range of 255-360 degrees, the solenoid valve in the suction cup is adjusted from an open state to a closed state.

4. The multi-terrain collecting head device as claimed in claim 3, characterized in that: The information collection and processing system includes an angle sensor module, a distance sensor module, a millimeter-wave radar module and an information processing module; the distance sensor module mainly senses the distance between the collection head device and the ground, and adjusts the appropriate distance between different roller units and the ground; the millimeter-wave radar can realize terrain detection of a small working surface, measure the nodule abundance and surface characteristics of the working surface, and provide data for adjusting the rotation speed of the roller collector and updating the seabed topographic map.

5. The multi-terrain collecting head device as claimed in claim 4, characterized in that: The collection head posture adjustment system consists of a roller collector and hydraulic rods. When encountering different terrains, the roller module is adjusted to a suitable rotation speed and height through the terrain height and nodule abundance data sensed by the information collection system to achieve efficient adsorption of seabed nodules. After the roller adsorbs the nodules, the roller unit is rotated to a suitable height to allow the nodules to fall into the nodule collection system.

6. The collection head device applicable to multiple terrains as claimed in claim 5, characterized in that: The automatic adsorption system is mainly composed of a centrifugal pump, a suction cup collection head and a solenoid valve. The suction cup on the suction cup collection head is made of nitrile material and is in an accordion shape. There is a protruding structure outside the suction cup channel, so that a gap is left directly between the suction cup and the nodule. When the suction cup collection head on the drum approaches the nodule, the nodule surface feature data provided by the information collection system allows the nodule to be stably adsorbed on the suction cup. When the suction cup adsorbs the nodule, the unit collector rotates to a suitable height, and the solenoid valve in the suction cup is adjusted to close the pipeline, so that the nodule and the suction cup fall off and naturally fall into the suction port range of the nodule collection system.

7. The multi-terrain collecting head device according to claim 1, characterized in that: The nodule collection system transports the collected nodules to the mining vessel through a hydraulic lift pipeline.

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