Multi-metal nodule collection attitude control mechanism and control method thereof

Abstract

According to the attitude control mechanism for collecting the multiple metal nodules and the control method of the attitude control mechanism, the attitude control mechanism is composed of an attitude measuring mechanism and a four-connecting-rod control mechanism, and the attitude measuring mechanism is fixed to a main frame of a mining system in a cantilever mode; the four-connecting-rod control mechanism is hinged to the hydraulic collecting device and a main frame of the mining system. According to the attitude control method, the attitude of the collecting device is measured in real time through the attitude measuring mechanism and compared with the initial attitude, the stroke of stretching needed by each control oil cylinder in the four-connecting-rod control mechanism when the corresponding attitude is adjusted is calculated through an algorithm, and then real-time adjustment is conducted through hydraulic pressure; the problem of attitude offset of the acquisition device caused by changes of submarine topography and geological conditions is solved. According to the control mechanism and method, it can be guaranteed that the ore collection rate is always at a high level, and therefore the reliability and stability of operation of a collection system are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of marine engineering deep-sea mining equipment, and in particular to a polymetallic nodule collection posture control mechanism and a control method thereof. Background Art

[0002] The deep sea contains a large amount of strategic mineral resources. Rational development of them is an inevitable choice for human society to promote sustainable development of people's livelihood, resources, science and technology, and economy in the future. Deep-sea mineral resources mainly include polymetallic nodules, cobalt-rich crusts, and polymetallic sulfides. The reserves of rare metal resources such as cobalt, manganese, and nickel are much higher than those on land, which provides a guarantee for the increasing demand for rare metals in the emerging new energy industry. Compared with the complex occurrence of other ores, polymetallic nodules are semi-buried in the soft soil surface of the seabed in a spherical shape, which is easier to collect. The research and development of equipment for commercial mining is in full swing.

[0003] The collection device is a key core component of the deep-sea mining system, which is directly related to the operating capacity and work efficiency of the mining system. Hydraulic collection uses the principle of jet to peel polymetallic nodules from seabed sediments and transport them upward. It has the advantages of simple structure and high collection efficiency. It is the most commercially promising collection method. However, due to changes in seabed topography and geological conditions, the mining system is prone to problems such as pitch and overall sinking during the operation, which leads to the attitude deviation of the collection device. After a series of experiments and simulation studies, it is shown that hydraulic collection is restricted by the attitude of the collection device (especially the height of the jet from the bottom). Once it deviates from the theoretical attitude range, the collection efficiency will be greatly reduced. Summary of the invention

[0004] The present invention aims to overcome at least one defect of the above-mentioned prior art and provide a polymetallic nodule collection attitude control mechanism and a control method thereof to solve the problem of collection device attitude deviation caused by changes in seabed topographic and geological conditions, thereby improving the reliability and stability of the collection system operation.

[0005] The technical solution of the present invention is as follows:

[0006] A polymetallic nodule collection posture control mechanism and a control method thereof. The posture control mechanism consists of a posture measurement mechanism and a four-link control mechanism.

[0007] The posture measurement mechanism is fixed on the main frame of the mining system in the form of a cantilever, and the four-link control mechanism is hinged to the hydraulic collection device and the main frame of the mining system respectively.

[0008] The posture measurement mechanism is composed of a supporting crossbeam, a height gauge, a cantilever beam, a rotary encoder and an angle measurement probe.

[0009] Furthermore, the support beam is fixed on the main frame of the mining system, and a height gauge is fixed at its front end to detect the height of the front fixed end from the bottom at a certain moment. The cantilever beam is fixed at the lower edge of the front end of the support beam to connect and fix the rotary encoder. The angle measuring probe is hinged on the rotary encoder, and its free end is a circular ring structure. The circular ring hangs on the seabed surface under the action of gravity. The rotary encoder can read the angular displacement of the angle measuring probe in this state. The difference between the angular displacement and the angular displacement of the angle measuring probe in the horizontal inward state is the angle between the probe and the horizontal plane.

[0010] The four-link control mechanism is composed of an angle adjustment hydraulic cylinder, a height adjustment hydraulic cylinder, a guide connecting rod, an angle adjustment hydraulic cylinder displacement sensor, a height adjustment hydraulic cylinder displacement sensor, a hinge support A, a hinge support B, a hinge support C and a hinge support D. Furthermore, the lower end of the angle adjustment hydraulic cylinder is fixed to the main frame of the mining system through a hinge support A, and the upper end is fixed to the lower side of the support frame of the hydraulic collection device through a hinge support B. A displacement sensor is fixed to the angle adjustment hydraulic cylinder, which can monitor the extension length of the piston rod of the angle adjustment hydraulic cylinder in real time; the lower end of the guide connecting rod is fixed to the main frame of the mining system through a hinge support C, and the upper end is fixed to the support frame of the hydraulic collection device through a hinge support D, and can make a circular motion with a constant radius around the fulcrum of the hinge support C; the angle adjustment hydraulic cylinder and the guide connecting rod are in the same plane, and the height adjustment hydraulic cylinder is not in the plane. The upper and lower ends of the height adjustment hydraulic cylinder are fixed in the same way as the angle adjustment hydraulic cylinder, and its lower end hinge support is fixed to the main frame of the mining system and is coaxial with the fulcrum of the hinge support A, and the upper end hinge support is fixed to the upper side of the support frame of the hydraulic collection device and is coaxial with the fulcrum of the hinge support D; a displacement sensor is fixed to the height adjustment hydraulic cylinder, which can monitor the extension length of the piston rod of the height adjustment hydraulic cylinder in real time.

[0011] The specific steps of the polymetallic nodule collection posture control method include:

[0012] Step 1: The altimeter and the rotary encoder in the attitude measurement mechanism respectively measure the height h0 of the front fixed end from the bottom and the angle β0 between the probe rod and the horizontal plane under the initial standard working condition, as well as the height h from the bottom and the angle β under the current state.

[0013] Step 2: Compare the height h of the front fixed end from the bottom in the current state with the height h0 from the bottom under the standard working condition (optimal posture of the acquisition device) to determine whether the height from the bottom has changed. If h = h0, it means that the height of the front measurement point has not changed, then execute step 3; if h ≠ h0, it means that the height of the front measurement point has changed, then execute step 4.

[0014] Step 3: Compare the angle β between the probe rod and the horizontal plane in the current state with the angle β0 under the standard working condition (optimal posture of the acquisition device) to determine whether the angle has changed. If β=β0, it means that the angle of the acquisition device has not changed, the overall posture remains unchanged, and the angle adjustment hydraulic cylinder, height adjustment hydraulic cylinder and guide connecting rod are all immobile; if β≠β0, it means that the angle of the acquisition device has changed, and overall translation and rotation adjustment is required. The angle adjustment hydraulic cylinder and height adjustment hydraulic cylinder rotate and extend, and the guide connecting rod rotates around the fulcrum of the hinge support C. Execute calculation (I) to obtain the telescopic change length Δa and Δb of the piston rod of the hydraulic cylinder and respectively. Further, execute step 5.

[0015] Step 4: Compare the angle β between the probe rod and the horizontal plane in the current state with the theoretical angle after the probe rod is deflected due to the height change. Compare and determine whether the pitch attitude of the acquisition device has changed. It means that the angle change is consistent with the height change. The acquisition device does not change its pitch attitude. It only needs to adjust the height from the bottom through translation. The height adjustment hydraulic cylinder rotates and retracts. The guide connecting rod rotates around the fulcrum of the hinge support C. The angle adjustment hydraulic cylinder rotates around the fulcrum of the hinge support A and does not retract. Calculation (II) is performed to obtain the telescopic change length Δb of the hydraulic cylinder piston rod. If It indicates that the angle change is inconsistent with the height change. The pitch attitude of the acquisition device changes, and the overall translation and rotation adjustment is required. The angle adjustment hydraulic cylinder and the height adjustment hydraulic cylinder rotate and extend and retract. The guide connecting rod rotates around the fulcrum of the hinge support C. Calculation (III) is performed to obtain the extension and retraction lengths Δa and Δb of the hydraulic cylinder piston rod, respectively. Further, step 5 is performed.

[0016] Step 5: The calculated value of the extension and retraction of the hydraulic cylinder piston rod obtained in step 3 or step 4 is input into the hydraulic control proportional valve through an electrical signal. The proportional valve adjusts the amount of oil required for the extension and retraction of the piston rod of each hydraulic cylinder accordingly, thereby realizing real-time control of the posture of the acquisition device.

[0017] The calculation method of the extension and contraction amount of the hydraulic cylinder piston rod in the polymetallic nodule collection posture control is as follows:

[0018] 1) When the angle change is consistent with the height change and the acquisition device moves horizontally, calculation (II) is performed as follows:

[0019] Assume that the fulcrum of the guide link around the hinge support C is the coordinate origin (0,0), and make a plane rectangular coordinate system. The dotted line in the figure represents the initial position of the device. Let the fulcrum coordinates of the hinge support A be (m,n). Since the structure of the main frame 4 is fixed, the coordinates are unchanged relative to the origin. Let the initial coordinates of the fulcrum of the hinge support D be (x0,y0), and the motion coordinates be (x,y). According to the geometric relationship, x and y satisfy the following formula:

[0020] x 2 +y 2 =c 2 ,x<0 (1)

[0021] (xm) 2 +(yn) 2 =b 2 (2)

[0022] y-y0=h0-h (3)

[0023] Since m, n, and c are fixed values, the initial value b0 can be read by the displacement sensor, and the coordinate value (x0, y0) can be determined according to formulas (1) and (2); the heights h0 and h from the bottom before and after the movement can be measured by the altimeter, and substituted into formula (3) together with the y0 value to determine the y value, and further substitute the y value into formula (1) to determine the x value; finally, substitute the x and y values ​​into formula (2) to determine the b value, and the difference between b and b0 is the hydraulic cylinder piston rod telescopic change length Δb (positive value means extension, negative value means shortening).

[0024] 2) When the height does not change but the angle does change, perform calculation (I) as follows:

[0025] Establish the same plane rectangular coordinate system as in 1), let the intersection of the cantilever beam axis and the ground be the rotation center, the fixed coordinate be (s, t), the moving coordinate of the hinge support B fulcrum be (i, j), and the auxiliary coordinate of the hinge support D fulcrum be (x1, y1). According to the geometric relationship, the parameter values ​​satisfy the following formula:

[0026] (im) 2 +(jn) 2 =a 2 (4)

[0027]

[0028] tanγ0=n / m (6)

[0029] γ-γ0=θ=β0-β (7)

[0030] tanγ=(yj) / (xi) (8)

[0031] tanβ=(y1-t) / (x1-s) (9)

[0032] (x0-s) 2 +(y0-t) 2 =(x1-s) 2 +(y1-t) 2 (10)

[0033] tanθ=(y-y1) / (x-x1) (11)

[0034] Since m, n, and c are fixed values, the initial value b0 can be read by the displacement sensor, and the coordinate value (x0, y0) can be determined according to formulas (1) and (2); the initial value a0 can be read by the displacement sensor, and the values ​​of a0, x0, and y0 can be substituted into formulas (4) and (5) to determine (i0, j0); the value of γ0 can be determined by formula (6); the angles β, β0 and γ0 measured by the rotary encoder and the angle measurement probe can be substituted into formula (7) to determine the value of γ; since s and t are fixed values, they can be substituted into formulas (9) and (10) together with the values ​​of β, x0, and y0 to determine (x1, y1); the six unknowns x, y, i, j, a, and b can be solved by the six equations (1), (2), (4), (5), (8), and (11), thereby further obtaining the extension and retraction lengths Δa and Δb of the piston rod of the hydraulic cylinder.

[0035] 3) When both the height and the angle change and are inconsistent, perform calculation (III). This calculation can be decomposed into two steps. First, perform calculation (II) based on the height from the bottom measured by the altimeter. The angle β and the cylinder stroke b value under the calculation result are used as the initial values. Then perform calculation (I). Finally, the hydraulic cylinder and the piston rod telescopic change length Δa and Δb can be obtained.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] The present invention proposes a polymetallic nodule collection posture control mechanism and a control method thereof, which measures the posture of the collection device in real time through height and angle measuring elements, compares it with the initial posture, and then adjusts the posture in real time through a hydraulic connecting rod mechanism to solve the problem of posture deviation of the collection device caused by changes in seabed topographic and geological conditions, ensure that the ore collection rate is always at a high level, thereby improving the reliability and stability of the collection system operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Layout diagram of the polymetallic nodule collection attitude control mechanism of the present invention

[0039] Figure 2 Flow chart of the polymetallic nodule collection posture control method of the present invention

[0040] Figure 3 This is a schematic diagram of the translation of the acquisition device of the present invention.

[0041] Figure 4 A schematic diagram showing the rotation of the collection device of the present invention

[0042] The reference numerals are as follows:

[0043] 1. Posture measurement mechanism; 101. Support beam; 102. Altimeter; 103. Cantilever beam; 104. Rotary encoder; 105. Angle measurement probe; 2. Four-bar control mechanism; 201. Angle adjustment hydraulic cylinder; 202. Height adjustment hydraulic cylinder; 203. Guide connecting rod; 204. Angle adjustment hydraulic cylinder displacement sensor; 205. Height adjustment hydraulic cylinder displacement sensor; 206. Hinge support A; 207. Hinge support B; 208. Hinge support C; 209. Hinge support D; 3. Hydraulic collection device; 4. Main frame of the mining system. DETAILED DESCRIPTION

[0044] The drawings in the embodiments provide a more detailed description of the technical solutions in the embodiments of the present invention. In the drawings, the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The described embodiments are part of the embodiments of the present invention, not all of them. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limitations on the present invention. Based on the embodiments in 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. The embodiments of the present invention are described in detail below in conjunction with the drawings.

[0045] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0046] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0047] Example

[0048] like Figures 1 to 4As shown, a polymetallic nodule collection posture control mechanism and a control method thereof, the posture control mechanism consists of a posture measurement mechanism 1 and a four-link control mechanism 2, wherein the posture measurement mechanism 1 is fixed on the main frame 4 of the mining system in a cantilever form, and the four-link control mechanism 2 is hinged to the hydraulic collection device 3 and the main frame 4 of the mining system respectively.

[0049] The attitude measurement mechanism 1 is composed of a supporting beam 101, an altimeter 102, a cantilever beam 103, a rotary encoder 104 and an angle measuring probe 105. The supporting beam 101 is fixed on the main frame 4 of the mining system, and a altimeter 102 is fixed at its front end to detect the height h of the front fixed end from the bottom at a certain moment. The cantilever beam 103 is fixed at the lower edge of the front end of the supporting beam 101, and is used to connect and fix the rotary encoder 104. The length of the cantilever beam 103 is e. The angle measuring probe 105 is hinged on the rotary encoder 104. The length of the angle measuring probe 105 is d, and its free end is a circular ring structure. The circular ring falls on the seabed surface under the action of gravity. The rotary encoder 104 can read the angular displacement of the angle measuring probe 105 in this state. The difference between the angular displacement and the angular displacement of the angle measuring probe 105 in the horizontal inward state is the angle β between the probe and the horizontal plane.

[0050] The four-link control mechanism 2 is composed of an angle adjustment hydraulic cylinder 201, a height adjustment hydraulic cylinder 202, a guide link 203, an angle adjustment hydraulic cylinder displacement sensor 204, a height adjustment hydraulic cylinder displacement sensor 205, a hinge support A206, a hinge support B207, a hinge support C208 and a hinge support D209. Among them, the lower end of the angle adjustment hydraulic cylinder 201 is fixed to the main frame 4 of the mining system through the hinge support A206, and the upper end is fixed to the lower side of the support frame of the hydraulic collection device 3 through the hinge support B207. The displacement sensor 204 is fixed on the angle adjustment hydraulic cylinder 201, which can monitor the extension length a of the angle adjustment hydraulic cylinder piston rod in real time; the lower end of the guide link 203 is fixed to the main frame 4 of the mining system through the hinge support C208, and the upper end is fixed to the support frame of the hydraulic collection device 3 through the hinge support D209. The length of the guide link 203 is fixed to c, and a radius can be made around the fulcrum of the hinge support C208. Unchanged circular motion; the angle adjustment hydraulic cylinder 201 and the guide connecting rod 203 are in the same plane, the height adjustment hydraulic cylinder 202 is not in the plane, the upper and lower ends of the height adjustment hydraulic cylinder 202 are fixed in the same manner as the angle adjustment hydraulic cylinder 201, its lower end hinged support is fixed on the main frame 4 of the mining system and is coaxial with the hinge support A206 fulcrum, and the upper end hinged support is fixed on the upper side of the support frame of the hydraulic collection device 3 and is coaxial with the hinge support D209 fulcrum; a displacement sensor 205 is fixed on the height adjustment hydraulic cylinder 202, which can monitor the extension length b of the piston rod of the height adjustment hydraulic cylinder in real time.

[0051] The specific steps of the polymetallic nodule collection posture control method include:

[0052] Step 1: The altimeter 102 and the rotary encoder 104 in the above-mentioned attitude measurement mechanism 1 respectively measure the height h0 of the front fixed end from the bottom and the angle β0 between the probe rod and the horizontal plane under the initial standard working condition, as well as the height h and angle β from the bottom under the current state. Step 2: Compare the height h from the bottom of the front fixed end under the current state with the height h0 from the bottom under the standard working condition (optimal attitude of the acquisition device) to determine whether the height from the bottom has changed. If h = h0, it means that the height at the front end measurement has not changed, then execute step 3; if h ≠ h0, it means that the height at the front end measurement has changed, then execute step 4.

[0053] Step 3: Compare the angle β between the probe rod and the horizontal plane in the current state with the angle β0 under the standard working condition (optimal posture of the acquisition device) to determine whether the angle has changed. If β=β0, it means that the angle of the acquisition device has not changed, the overall posture remains unchanged, and the angle adjustment hydraulic cylinder 201, the height adjustment hydraulic cylinder 202 and the guide connecting rod 203 are all immobile; if β≠β0, it means that the angle of the acquisition device has changed, and overall translation and rotation adjustment is required. The angle adjustment hydraulic cylinder 201 and the height adjustment hydraulic cylinder 202 rotate and extend, and the guide connecting rod 203 rotates around the fulcrum of the hinge support C208. Calculation (I) is performed to obtain the telescopic change lengths Δa and Δb of the piston rods of the hydraulic cylinders 201 and 202, respectively. Further, step 5 is performed.

[0054] Step 4: Compare the angle β between the probe rod and the horizontal plane in the current state with the theoretical angle after the probe rod is deflected due to the height change. Compare and determine whether the pitch attitude of the acquisition device has changed. It indicates that the angle change is consistent with the height change. The acquisition device does not change its pitch attitude. It only needs to adjust the height from the bottom through translation. The height adjustment hydraulic cylinder 202 rotates and retracts. The guide link 203 rotates around the fulcrum of the hinge support C208. The angle adjustment hydraulic cylinder 201 rotates around the fulcrum of the hinge support A206 and does not retract. Calculation (II) is performed to obtain the telescopic change length Δb of the piston rod of the hydraulic cylinder 202. If It indicates that the angle change is inconsistent with the height change. The pitch attitude of the acquisition device changes, and the overall translation and rotation adjustment is required. The angle adjustment hydraulic cylinder 201 and the height adjustment hydraulic cylinder 202 rotate and extend and retract. The guide link 203 rotates around the fulcrum of the hinge support C208. Calculation (III) is performed to obtain the extension and retraction lengths Δa and Δb of the piston rods of the hydraulic cylinders 201 and 202, respectively. Further, step 5 is performed.

[0055] Step 5: The calculated value of the extension and retraction of the hydraulic cylinder piston rod obtained in step 3 or step 4 is input into the hydraulic control proportional valve through an electrical signal. The proportional valve adjusts the amount of oil required for the extension and retraction of the piston rod of each hydraulic cylinder accordingly, thereby realizing real-time control of the posture of the acquisition device.

[0056] Combination Figure 3 and Figure 4 The method for calculating the extension and contraction amount of the hydraulic cylinder piston rod in the polymetallic nodule collection posture control proposed by the present invention is as follows:

[0057] 1) When the angle change is consistent with the height change and the acquisition device moves horizontally, calculation (II) is performed as follows:

[0058] Assume that the fulcrum of the guide link 203 around the hinge support C208 is the coordinate origin (0,0), and make a plane rectangular coordinate system. The dotted line in the figure represents the initial position of the device. Let the fulcrum coordinates of the hinge support A206 be (m,n). Since the structure of the main frame 4 is fixed, the coordinates are unchanged relative to the origin. Let the initial coordinates of the fulcrum of the hinge support D209 be (x0,y0), and the motion coordinates be (x,y). According to the geometric relationship, x and y satisfy the following formula:

[0059] x 2 +y 2 =c 2 ,x<0 (1)

[0060] (xm) 2 +(yn) 2 =b 2 (2)

[0061] y-y0=h0-h (3)

[0062] Since m, n, and c are fixed values, the initial value b0 can be read by the displacement sensor 205, and the coordinate value (x0, y0) can be determined according to formulas (1) and (2); the heights h0 and h from the bottom before and after the movement can be measured by the altimeter 102, and the y value can be substituted into formula (3) together with the y0 value to determine the y value, and the y value can be further substituted into formula (1) to determine the x value; finally, the x and y values ​​can be substituted into formula (2) to determine the b value, and the difference between b and b0 is the length Δb of the piston rod of the hydraulic cylinder 202 (positive value means extension, negative value means shortening). 2) When the height does not change but the angle changes, perform calculation (I), as follows:

[0063] Establish the same plane rectangular coordinate system as in 1), let the intersection of the axis of the cantilever beam 103 and the ground be the rotation center, the fixed coordinate be (s, t), the moving coordinate of the hinge support B207 fulcrum be (i, j), and the auxiliary coordinate of the hinge support D209 fulcrum be (x1, y1). According to the geometric relationship, the values ​​of each parameter satisfy the following formula:

[0064] (im) 2 +(jn) 2 =a 2 (4)

[0065]

[0066] tanγ0=n / m (6)

[0067] γ-γ0=θ=β0-β (7)

[0068] tanγ=(yj) / (xi) (8)

[0069] tanβ=(y1-t) / (x1-s) (9)

[0070] (x0-s) 2 +(y0-t) 2 =(x1-s) 2 +(y1-t) 2 (10)

[0071] tanθ=(y-y1) / (x-x1) (11)

[0072] Since m, n, and c are fixed values, the initial value b0 can be read by the displacement sensor 205, and the coordinate value (x0, y0) can be determined according to formulas (1) and (2); the initial value a0 can be read by the displacement sensor 204, and the values ​​of a0, x0, and y0 can be substituted into formulas (4) and (5) to determine (i0, j0); the value of γ0 can be determined by formula (6); the angles β, β0 and γ0 measured by the rotary encoder 104 and the angle measuring probe 105 can be substituted into formula (7) to determine the value of γ; since s and t are fixed values, they can be substituted into formulas (9) and (10) together with the values ​​of β, x0, and y0 to determine (x1, y1); the six unknowns x, y, i, j, a, and b can be solved by the six equations (1), (2), (4), (5), (8), and (11), thereby further obtaining the telescopic lengths Δa and Δb of the piston rods of the hydraulic cylinders 201 and 202.

[0073] 3) When both the height and the angle change and are inconsistent, calculation (III) is performed. The calculation can be decomposed into two steps. First, calculation (II) is performed based on the height from the bottom measured by the altimeter 102. The angle β, the cylinder stroke b value, etc. under the calculation result are used as the initial values, and then calculation (I) is performed. Finally, the piston rod telescopic change length Δa and Δb of the hydraulic cylinders 201 and 202 can be obtained. The above implementation mode is only used to illustrate the technical solution of the present invention and is not limited. Although the present invention is described in detail with reference to the above preferred implementation modes, ordinary technicians in this field should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention. Those skilled in the art can also make other changes within the spirit of the present invention and use them in the design of the present invention, as long as they do not deviate from the technical effects of the present invention. These changes made in accordance with the spirit of the present invention should be included in the scope of protection required by the present invention.

Claims

1. A posture control mechanism for collecting polymetallic nodules, characterized in that: The posture control mechanism consists of a posture measurement mechanism and a four-link control mechanism.

2. The posture control mechanism according to claim 1, characterized in that: The posture measurement mechanism is fixed on the main frame of the mining system in the form of a cantilever, and the four-link control mechanism is hinged to the hydraulic collection device and the main frame of the mining system respectively.

3. The posture control mechanism according to claim 1, characterized in that: The posture measurement mechanism is composed of a supporting crossbeam, a height gauge, a cantilever beam, a rotary encoder and an angle measurement probe.

4. The posture control mechanism according to claim 3, characterized in that: The supporting crossbeam is fixed on the main frame of the mining system, and an altimeter is fixed on its front end for detecting the height of the front fixed end from the bottom at a certain moment; the cantilever beam is fixed on the lower edge of the front end of the supporting crossbeam for connecting and fixing the rotary encoder; the angle measuring probe is hinged on the rotary encoder, and its free end is a circular ring structure. The circular ring hangs on the seabed surface under the action of gravity, and the rotary encoder can read the angular displacement of the angle measuring probe in this state. The difference between this angular displacement and the angular displacement of the angle measuring probe in the horizontal inward state is the angle between the probe and the horizontal plane.

5. The posture control mechanism according to claim 1, characterized in that: The four-link control mechanism is composed of an angle adjustment hydraulic cylinder, a height adjustment hydraulic cylinder, a guide connecting rod, an angle adjustment hydraulic cylinder displacement sensor, a height adjustment hydraulic cylinder displacement sensor, a hinge support A, a hinge support B, a hinge support C and a hinge support D.

6. The posture control mechanism according to claim 5, characterized in that: The lower end of the angle adjustment hydraulic cylinder is fixed to the main frame of the mining system through a hinge support A, and the upper end is fixed to the lower side of the support frame of the hydraulic collection device through a hinge support B. The angle adjustment hydraulic cylinder is fixed with an angle adjustment hydraulic cylinder displacement sensor, which can monitor the extension length of the piston rod of the angle adjustment hydraulic cylinder in real time; the lower end of the guide connecting rod is fixed to the main frame of the mining system through a hinge support C, and the upper end is fixed to the support frame of the hydraulic collection device through a hinge support D, and can make a circular motion with a constant radius around the fulcrum of the hinge support C; the angle adjustment hydraulic cylinder and the guide connecting rod are in the same plane, and the height adjustment hydraulic cylinder is not in the plane, the lower end hinge support of the height adjustment hydraulic cylinder is fixed to the main frame of the mining system and is coaxial with the fulcrum of the hinge support A, and the upper end hinge support is fixed to the upper side of the support frame of the hydraulic collection device and is coaxial with the fulcrum of the hinge support D; the height adjustment hydraulic cylinder is fixed with a height adjustment hydraulic cylinder displacement sensor, which can monitor the extension length of the piston rod of the height adjustment hydraulic cylinder in real time.

7. A posture control method for collecting polymetallic nodules, characterized in that: The method comprises the posture control mechanism according to any one of claims 1 to 6, wherein the posture control method comprises the following steps: Step 1: The altimeter and the rotary encoder in the attitude measurement mechanism respectively measure the height h0 of the front fixed end from the bottom and the angle β0 between the probe rod and the horizontal plane under the initial standard working condition, as well as the height h from the bottom and the angle β under the current state; Step 2: Compare the height h of the front fixed end from the bottom in the current state with the height h0 from the bottom under the standard working condition (optimal posture of the acquisition device) to determine whether the height from the bottom has changed; if h = h0, it means that the height of the front measurement point has not changed, then execute step 3; if h ≠ h0, it means that the height of the front measurement point has changed, then execute step 4; Step 3: Compare the angle β between the probe rod and the horizontal plane in the current state with the angle β0 under the standard working condition (optimal posture of the acquisition device) to determine whether the angle has changed; if β = β0, it means that the angle of the acquisition device has not changed, the overall posture remains unchanged, and the angle adjustment hydraulic cylinder, the height adjustment hydraulic cylinder and the guide connecting rod are all immobile; if β ≠ β0, it means that the angle of the acquisition device has changed, and overall translation and rotation adjustment is required, the angle adjustment hydraulic cylinder and the height adjustment hydraulic cylinder rotate and extend, and the guide connecting rod rotates around the fulcrum of the hinge support C, and calculation (I) is performed to obtain the hydraulic cylinder piston rod extension and extension length change Δa and Δb respectively; further, step 5 is performed; Step 4: Compare the angle β between the probe rod and the horizontal plane in the current state with the theoretical angle after the probe rod is deflected due to the height change. Compare and determine whether the acquisition device has a pitch change; if It means that the angle change is consistent with the height change. The acquisition device does not change its pitch attitude. It only needs to adjust the height from the bottom through translation. The height adjustment hydraulic cylinder rotates and retracts. The guide connecting rod rotates around the fulcrum of the hinge support C. The angle adjustment hydraulic cylinder rotates around the fulcrum of the hinge support A and does not retract. Calculation (II) is performed to obtain the telescopic change length Δb of the hydraulic cylinder piston rod. If It indicates that the angle change is inconsistent with the height change. The pitch attitude of the acquisition device changes, and the overall translation and rotation adjustment is required. The angle adjustment hydraulic cylinder and the height adjustment hydraulic cylinder rotate and extend and retract. The guide connecting rod rotates around the fulcrum of the hinge support C. Calculation (III) is performed to obtain the extension and retraction lengths Δa and Δb of the piston rod of the hydraulic cylinder respectively. Further, step 5 is performed. Step 5: The calculated value of the extension and retraction of the hydraulic cylinder piston rod obtained in step 3 or step 4 is input into the hydraulic control proportional valve through an electrical signal. The proportional valve adjusts the amount of oil required for the extension and retraction of the piston rod of each hydraulic cylinder accordingly, thereby realizing real-time control of the posture of the acquisition device.

8. A posture control method for collecting polymetallic nodules according to claim 7, characterized in that: The calculation method of the extension and contraction amount of the hydraulic cylinder piston rod in the polymetallic nodule collection posture control is as follows: 1) When the angle change is consistent with the height change and the acquisition device moves horizontally, calculation (II) is performed as follows: Assume that the fulcrum of the guide link around the hinge support C is the coordinate origin (0,0), and make a plane rectangular coordinate system. The dotted line in the figure represents the initial position of the device. Let the fulcrum coordinates of the hinge support A be (m,n). Since the structure of the main frame 4 is fixed, the coordinates remain unchanged relative to the origin. Let the initial coordinates of the fulcrum of the hinge support D be (x0,y0), and the motion coordinates be (x,y); according to the geometric relationship, x and y satisfy the following formula: x 2 +y 2 =c 2 ,x<0 (1) (x-m) 2 +(y-n) 2 =b 2 (2) y-y0=h0-h (3) Since m, n, and c are fixed values, the initial value b0 can be read by the displacement sensor, and the coordinate value (x0, y0) can be determined according to formulas (1) and (2); the heights h0 and h from the bottom before and after the movement can be measured by the altimeter, and the y value can be substituted into formula (3) together with the y0 value to determine the y value, and the y value can be further substituted into formula (1) to determine the x value; finally, the x and y values ​​can be substituted into formula (2) to determine the b value, and the difference between b and b0 is the hydraulic cylinder piston rod telescopic change length Δb (positive value extension, negative value shortening); 2) When the height does not change but the angle does change, perform calculation (I) as follows: Establish the same plane rectangular coordinate system as in 1), let the intersection of the cantilever beam axis and the ground be the rotation center, the fixed coordinate be (s, t), the moving coordinate of the hinge support B fulcrum be (i, j), and the auxiliary coordinate of the hinge support D fulcrum be (x1, y1); according to the geometric relationship, the parameter values ​​satisfy the following formula: (i-m) 2 +(j-n) 2 =a 2 (4) tanγ0=n / m (6) γ-γ0=θ=β0-β (7) tanγ=(yj) / (xi) (8) tanβ=(y1-t) / (x1-s) (9) (x0-s) 2 +(y0-t) 2 =(x1-s) 2 +(y1-t) 2 (10) tanθ=(y-y1) / (x-x1) (11) Since m, n, and c are fixed values, the initial value b0 can be read by the displacement sensor, and the coordinate value (x0, y0) can be determined according to formulas (1) and (2); the initial value a0 can be read by the displacement sensor, and the values ​​of a0, x0, and y0 can be substituted into formulas (4) and (5) to determine (i0, j0); the value of γ0 can be determined by formula (6); the angles β, β0 and γ0 measured by the rotary encoder and the angle measurement probe can be substituted into formula (7) to determine the value of γ; since s and t are fixed values, they can be substituted into formulas (9) and (10) together with the values ​​of β, x0, and y0 to determine (x1, y1); the six unknowns x, y, i, j, a, and b can be solved by the six equations (1), (2), (4), (5), (8), and (11), thereby further obtaining the hydraulic cylinder piston rod telescopic change length Δa and Δb; 3) When both the height and the angle change and are inconsistent, perform calculation (III). This calculation can be decomposed into two steps. First, perform calculation (II) based on the height from the bottom measured by the altimeter. The angle β and the cylinder stroke b value under the calculation result are used as the initial values. Then perform calculation (I). Finally, the hydraulic cylinder and the piston rod telescopic change length Δa and Δb can be obtained.

Images