Marine polymetallic nodule collection aircraft

Abstract

The invention relates to the technical field of marine polymetallic in marine mineral resources, and discloses a marine polymetallic nodule collection aircraft, which comprises a shell, a suction nozzle pipe, a negative pressure water pump, a primary filter cabin, a transition cabin, a propeller, a cyclone, a secondary filter cabin, a collection cabin, a flow guide pipe and the like, the driving propeller is fixed on the outer side of the shell; in the interior of the shell, the negative pressure water pump is connected with the first-stage filtering cabin, the first-stage filtering cabin is connected with the transition cabin, the second-stage filtering cabin is fixedly connected with the cyclone, the collecting cabin is connected with the second-stage filtering cabin, the flow guide pipe is connected to the upper portion of the water pump, and the collecting cabin is installed on the rear portion of the shell. The arc-shaped blade on the first-stage filtering cabin can effectively scrape hard polymetallic nodules, and the two filtering cabins can effectively filter silt mixtures and the polymetallic nodules, so that the cleanliness of the polymetallic nodules is ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of seabed polymetallic nodule extraction, and specifically relates to a marine polymetallic nodule collection vehicle. Background Art

[0002] In recent years, my country has proposed the grand goal of building a "marine economic power". my country has a vast ocean area and rich marine mineral resources. The rational development of deep-sea mineral resources can safeguard my country's mineral resource interests. Therefore, in my country, deep-sea mineral resource development and mining technology are highly valued. For decades, my country has invested a lot of manpower and material resources in the research of deep-sea polymetallic nodule mining technology, and has made good progress, realizing the historical leap from a maritime power to a maritime power. With the increasing demand for naval power in the country, the research and development of new polymetallic nodule collection robots has more important strategic significance. The polymetallic nodule collection vehicle uses the screening principle of the fish mouth to suck the sludge containing polymetallic nodules into the equipment through negative pressure, and transfers it to the centrifugal screening device. Taking advantage of the poor stratification, uneven structure, thixotropy and rheology of the sludge, the cyclone centrifugal screening equipment is used to screen it clean to obtain polymetallic nodules, thereby meeting the demand. Summary of the invention

[0003] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a marine polymetallic nodule collection vehicle, which effectively solves the problems mentioned in the above background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a polymetallic nodule collection vehicle, the overall structure of which is divided into a fin structure, a suction nozzle pipe, a negative pressure pump, a primary filter cabin, a driving propeller, a guide pipe, a cyclone, a cyclone, a secondary filter cabin, and a collection cabin. The left end of the shell and the right end of the shell are fixedly connected by welding, four hexagonal cylindrical screws are fixed in the front end of the shell, and a cylindrical fixture is fixed in the rear end of the shell to fix the transition cabin of the collection robot. The cylindrical fixture away from the rear end of the shell is connected to the guide pipe and a sealing ring is arranged in between. A water wave detector is installed on the front side of the guide pipe, and the water wave detector is used to monitor the underwater environment in which the robot is operating. The primary filter cabin and the suction nozzle pipe are fixed A curved blade is fixedly connected at the lower part of the first-level filter cabin, one side of the manifold is fixedly connected to the negative pressure pump, a second-level filter cabin is arranged in the middle of the manifold, both ends of the collecting cabin are fixed on the second-level filter cabin and the manifold, the fin structure is fixed on the outside of the front end of the shell, the water wave detector and the power supply module are fixed on the inside of the front end of the shell, the control module is arranged on the other side of the inside of the rear end of the shell, the propeller and the wing connector are fixedly connected, and finally merge into the collecting cabin; when using the present invention, the working purpose of the suction nozzle pipe is to suck seawater in the ocean into the internal circulation structure of the entire collection robot, and push the mixture of polymetallic nodules and mud and sand sucked into the first-level filter cabin by the suction nozzle pipe to the transition cabin, which mainly plays a thrust operation.

[0005] Preferably, one end of the guide tube is fixedly connected to the water wave detector, and the other end is fixedly connected to the No. 1 negative pressure water pump. A slotted cylindrical screw is provided at the position where the guide tube contacts the shell and is fixedly connected to the shell. A sealing ring is provided in the slotted cylindrical screw and the guide tube for fixing. A small hole is provided on the side where the guide tube is connected to the water wave detector. When the present invention is used, after the water wave detector detects the underwater environment, the equipment starts to work, and the negative pressure water pump starts to work. At this time, seawater enters the interior of the cabin through the guide tube. Since there are many small holes in the negative pressure water pump, impurities in the seawater are not further pushed into the interior of the cabin, in preparation for the next flushing step. The purpose of the water wave detector is to enable the robot to detect and clear the seabed environment. The filter in the negative pressure water pump can prevent impurities in the seawater from entering the guide tube.

[0006] Preferably, one side of the negative pressure water pump is fixed to the guide pipe, and the other side is connected to the transition cabin through the guide pipe. A water pump motor is provided on the upper part of the negative pressure water pump, and fan blades are provided inside the negative pressure water pump and are fixedly connected to the water pump motor. When the present invention is used, when seawater flows into the negative pressure water pump from the guide pipe, the fan blades in the negative pressure water pump rotate, so that the seawater is filtered through the bottom filter screen of the negative pressure water pump and then flows out through the guide pipe, providing power for the seawater entering the primary filter cabin.

[0007] Preferably, the first-level filter cabin has a filter screen in the middle and an opening and closing device is connected to the bottom. The first-level filter cabin has through holes at upper and lower symmetrical positions, and the upper through holes are used to connect the motor. The lower part of the first-level filter cabin is provided with an opening and closing device, and the upper side of the opening and closing device is provided with a reset ring, and the lower part of the opening and closing device is provided with an arc-shaped blade and a water wave detector. When the present invention is used, after the water wave detector detects polymetallic nodules on the surface of the seabed and monitors the environment of the seabed surface, the arc-shaped blade is used to cut off a mixture of polymetallic nodules and seaweed on the surface of the seabed. The cut mixture reaches the reset ring under the action of the suction driven by the motor. Under the action of the motor, the reset ring on the opening and closing device is expanded to the maximum, and the mixture enters the first-level filter cabin. The motor stops working after working for a period of time. At this time, the reset ring on the opening and closing device is restored, and the opening and closing device remains tightly closed. The opening and closing device controls the polymetallic nodules and the mixture to enter the primary filter cabin through the reset ring, and the motor starts to work. The motor drives the seawater to be sucked into the primary filter cabin from the suction nozzle. After the seawater enters the primary filter cabin, the polymetallic nodules and the mixture in the primary filter cabin are filtered after being flushed by the arc-shaped blade, and the seawater discharges the mixture to the outside of the vehicle through the guide pipe on the upper part of the primary filter cabin.

[0008] Preferably, the right through hole of the first-stage filter cabin is fixedly connected to the transition cabin by means of a hexagonal cylindrical screw and welding. The transition cabin is a left-right through structure, and a plurality of fixed round rods are arranged inside it. A rotatable cylindrical ring is arranged on the fixed round rod, and its shape is similar to a hammer. The right side of the transition cabin is fixedly connected to the second-stage filter cabin. When the present invention is used, after the mixture of polymetallic nodules and mud is pushed into the interior of the transition cabin by the driving action of the motor of the first-stage filter cabin, the cylindrical ring on the fixed round rod of the transition cabin rotates continuously, thereby knocking down the mixture on the surface of the polymetallic nodules, and achieving the effect of cleaning and screening under the drive of seawater, the motor of the first-stage filter cabin works again, and the thrust generated by it enables the mixture to reach the second-stage filter cabin.

[0009] Preferably, the left side of the secondary filter cabin is fixedly connected to the right side of the transition cabin by a hexagonal cylindrical screw and welding, and the polymetallic nodules enter the secondary filter cabin through a one-way valve. The secondary filter cabin is driven by a motor to rotate a rotating small disk, and the rotating small disk drives five rotating small shafts to rotate. Each rotating small shaft is provided with six rotating industrial brushes distributed at equal intervals. During the rotation driven by the motor, due to the action of centrifugal force and inertial force, the rotating industrial brush of the rotating pendulum always faces outward, so that the rotating industrial brush can continuously scrub the surface of the polymetallic nodules, and scrub away some sludge impurities remaining on the surface of the polymetallic nodules, so as to obtain cleaner polymetallic nodules, thereby meeting the collection requirements. The one-way valve is to prevent the cleaned polymetallic nodule impurities from entering the front centrifugal device, and also to maintain good sealing.

[0010] Preferably, a pressed sheet sensor is installed at the rear wall of the collection cabin; when the present invention is used, the negative pressure pump pushes the polymetallic nodules flushed by the secondary filter cabin to the collection cabin. At this time, due to gravity, the polymetallic nodules fall under the collection cabin. The cylindrical arc structure of the collection cabin prevents the polymetallic nodules from falling directly, effectively protecting the cabin body of the collection cabin from being damaged by the polymetallic nodules. The small holes at the bottom of the collection cabin can prevent the falling polymetallic nodules from falling to the outside of the robot. The motors all work periodically and intermittently, and the transition cabin and the secondary filter cabin start working synchronously, but stop working at different times, and the working time of the secondary filter cabin is less than that of the transition cabin; the working mode of the entire water pump system is primary filtration. The first filter cabin stops working first, and after the transition cabin sucks the polymetallic nodules and mud mixture into the second filter cabin, the first filter cabin stops working. At this time, the negative pressure pump continues to work and pushes the polymetallic nodules to the transition cabin and then to the second filter cabin. Then the transition cabin stops working and the collecting cabin starts working. The second filter cabin completes the collection of polymetallic nodules, and the collecting cabin flushes the polymetallic nodules in the second filter cabin. The second filter cabin stops working before the transition cabin, so as to allow the polymetallic nodules to sink to the lower baffle under the action of gravity in the second filter cabin so as to be transported to the collecting cabin. When the polymetallic nodules reach a certain amount and the pressure value reaches the value set by the pressed-plate pressure sensor, the collecting vehicle returns.

[0011] Preferably, the collection cabin is fixedly connected to a guide pipe at the through hole of the annular array, and the guide pipe connects the primary filter cabin, the transition cabin, the secondary filter cabin, and the collection cabin. The left end of the tail guide pipe is fixedly connected to the collection cabin, and the tail guide pipe is fixedly connected to the wake disperser, and the wake disperser is connected to the circular ring fixture at the rear end of the collection vehicle shell. A sealing ring is installed on the inside of the circular ring fixture. The wake disperser is located at the rear end of the shell of the collection vehicle, and a through-hole pipe is arranged inside the wake disperser. An independent motor installation space is provided inside the wake disperser for installing a motor. The motor is used A driving propeller is fixedly connected to the end of the main shaft of the engine. When the present invention is used, when the polymetallic nodules inside the collecting cabin fall into the lower part of the collecting cabin, the mixture in the collecting cabin is pushed to the tail end guide pipe and the wake disperser by the negative pressure pump, and the mixture is thrown out of the cabin through the wake disperser. At this time, the engine inside the wake disperser starts to work, and the motor drives the propeller to rotate and promote the movement of the cabin. The small holes on the wake disperser effectively prevent the polymetallic nodules in the collecting cabin from being washed out of the robot cabin by the water flow. The motor and the propeller provide power for the entire robot.

[0012] Preferably, the manifold is a hollow conduit structure with curved left and right ends and a horizontal middle part, one end of the manifold is fixedly connected to the tail end guide pipe, and the other end is fixedly connected to the upper part of the transition cabin, the middle part of the manifold extends downward and is fixedly connected to the upper part of the secondary filtration cabin, and fish fin structures are provided on the left and right sides of the outside of the shell, the Bluetooth module and the power supply module are fixed inside the front end of the shell, and the control module is arranged on the other side of the front end of the shell; when the present invention is used, the seawater absorbed by the transition cabin and the secondary filtration cabin during operation flows into the wake disperser at the tail through the manifold, and further flows out of the cabin through the small holes of the wake disperser, the fish fin structure is two left-right symmetrical fish fin-shaped structures, and the fish fin structure ensures the balance and stability of the cabin, the power supply module provides energy for the entire robot, and the Bluetooth module and the control module control the collection work of the vehicle and the movement of the cabin by controlling the water pump and the motor in the cabin.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The present invention is an environmentally friendly screening device that can reduce the impact on the marine environment.

[0015] 2. The present invention is a low-cost and high-efficiency screening device.

[0016] 3. The fin structure of the present invention can effectively ensure the balance and stability of the entire cabin.

[0017] 4. The multi-stage filter cabin of the present invention effectively ensures the cleanliness of polymetallic nodules through multiple flushing operations.

[0018] 5. The underwater Bluetooth control module can realize automatic control, making the operation easier. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0020] In the attached picture:

[0021] Figure 1 This is the overall appearance of a marine polymetallic nodule vehicle proposed by the present invention;

[0022] Figure 2 This is a schematic diagram of the internal structure of an ocean polymetallic nodule vehicle proposed by the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of a negative pressure pump in a marine polymetallic nodule vehicle proposed by the present invention;

[0024] Figure 4This is a schematic diagram of the structure of a driving propeller in a marine polymetallic nodule vehicle proposed by the present invention;

[0025] Figure 5 This is a schematic structural diagram of a first-stage filter cabin in a marine polymetallic nodule vehicle proposed by the present invention;

[0026] Figure 6 This is a schematic diagram of the structure of a transition tank in a marine polymetallic nodule vehicle proposed by the present invention;

[0027] Figure 7 This is a schematic diagram of the structure of a cyclone mechanism in a marine polymetallic nodule vehicle proposed by the present invention;

[0028] Figure 8 This is a schematic diagram of the structure of a secondary filtration cabin in a marine polymetallic nodule vehicle proposed by the present invention;

[0029] Fig. 9 This is a schematic diagram of the structure of a collection cabin in a marine polymetallic nodule vehicle proposed by the present invention.

[0030] In the figure: 1. suction nozzle; 2. driving propeller; 3. negative pressure pump; 4. guide pipe; 5. primary filter cabin; 6. cyclone; 7. secondary filter cabin; 8. collection cabin; 9. No. 1 motor; 10. hexagonal bolt; 11. wing connector; 12. motor protection cover; 13. No. 2 motor; 14. deep groove ball bearing; 15. No. 3 motor; 16. filter screen; 17. small cylindrical knocking rod; 18. slotted cylindrical head screw; 19. large cylindrical stirring rod; 20. filter cabin; 21. No. 4 motor; 22. industrial brush; 23. base; 24. drainage hole; 25. connection hole; 26. water wave detector; 27. wake disperser; 28. sealing ring; 29. ​​pressure sensor. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0032] Reference Figure 1-8, a marine polymetallic nodule collection vehicle, a suction nozzle 1 sucks the marine polymetallic nodules to be collected into the vehicle, a water wave detector 26 is installed on the front side of the suction nozzle 1, the water wave detector 26 and the shell are fixedly connected by welding, the water wave detector 26 is used to monitor the underwater environment of the robot, six hexagonal bolts 10 are fixed on the outside of the shell, which are used to fix the collection cabin 8, transition cabin 20, primary filter cabin 5, and secondary filter cabin 7 of the collection vehicle, the negative pressure pump 3 is fixedly installed on the guide pipe 4 by welding, and the primary filter cabin 5 is fixedly connected to the other side of the negative pressure pump 3 On one side, the first-level filter cabin 5 is fixedly connected to the cyclone 6 on the other side. The cyclone 6 is provided with a guide pipe 4 outside and fixedly connected to the driving propeller 2. Both ends of the collecting cabin 20 are fixed on the second-level filter cabin 7 and the transition cabin 20. The wake disperser 27 is installed at the rear of the motor protection cover 12, and a through-hole pipe is arranged inside the wake disperser 27. An independent engine installation space is arranged inside the wake disperser 27 for installing the No. 2 motor 13. The No. 2 motor 13 is used to drive the propeller 2. The propeller 2 is fixedly connected to the end of the main shaft of the No. 2 motor 13, and the driving propeller 2 and the wake disperser 27 are fixedly connected;One end of the guide pipe 4 is fixedly connected to the negative pressure water pump 3, and the other end is fixedly connected to the first-level filter cabin 5. A hexagonal bolt 10 is provided at the contact position between the guide pipe 4 and the shell to be fixedly connected to the shell. A sealing ring 28 is provided in the connection between the guide pipe 4 and the hexagonal bolt 10 to be fixed on the shell. A No. 1 motor 9 is provided on the upper part of the negative pressure water pump 3, and a fan blade is provided inside the negative pressure water pump 3 and is fixedly connected to the No. 1 motor 9. The middle of the first-level filter cabin 5 is a columnar cabin section, and the right side is connected to the No. 3 motor 15. The first-level filter cabin 5 is equipped with a filter screen 16 at a left-right symmetrical position, and a large cylindrical stirring rod 1 is provided inside the first-level filter cabin 5. 9, a small cylindrical knocking rod 17 is connected to the upper side of the large cylindrical stirring rod 19, and a slotted cylindrical head screw 18 is provided in the small cylindrical knocking rod 17 to strengthen the connection, the right through hole of the first-level filter cabin 5 is fixedly connected to the cyclone 6 by welding, the cyclone 6 is a left-right through structure, and a filter screen 16 and a filter cabin 20 are arranged inside it, the left side of the second-level filter cabin 7 is fixedly connected to the right side of the cyclone 6 by welding, the second-level filter cabin 7 is provided with a No. 4 motor 21, and the outer shell is provided with a filter screen 16, and the second-level filter cabin 7 is provided with a circular array of circular through holes, and the diameter of the through holes is smaller than the average diameter of the polymetallic nodules. The diameter is greater than the minimum diameter of the polymetallic nodules. A large cylindrical stirring rod 19 is arranged inside the secondary filter cabin 7. An industrial brush 22 is arranged on the large cylindrical stirring rod 19. A slotted cylindrical head screw 18 is arranged between the industrial brush and the large cylindrical stirring rod 19 to strengthen the connection. The rear through hole of the secondary filter cabin 7 is fixedly connected to the collection cabin 20. The lower through hole of the secondary filter cabin 7 is provided with a guide pipe 4. The guide pipe 4 is fixedly connected to the connection hole 25 of the collection cabin 8 by welding. The connection hole 25 is installed with a hexagonal head bolt 10. The lower base 23 of the collection cabin 8 is connected to the aircraft shell. The rear wall of the collection cabin 8 is installed with a press-type pressure-type Sensor 29, the collection cabin 20 is fixedly connected to the tail nozzle 24 at the annular array through hole, the tail nozzle 24 is connected to the first-level filter cabin 5 and the second-level filter cabin 7, connected to the second motor 13 and the third motor 15, the left end of the tail nozzle 24 is fixedly connected to the collection cabin 20, the guide pipe 4 is a hollow conduit structure with curved left and right ends and horizontal in the middle, one end of the guide pipe 4 is fixedly connected to the tail nozzle 24, and the other end is fixedly connected to the upper part of the second motor 13, the middle part of the guide pipe 4 extends downward and is fixedly connected to the upper part of the third motor 15, the water wave detector 26 and the pressure sensor 29 are respectively fixed at the front and rear ends of the shell. ;

[0033] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0034] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A marine polymetallic nodule vehicle, characterized by: Including negative pressure A water pump (3), a primary filter cabin (5), a cyclone (6), a secondary filter cabin (7), a collecting cabin (8), a guide pipe (4), a driving propeller (2), a small cylindrical knocking rod (17), and a large cylindrical stirring rod (19); the guide pipe (4) and the negative pressure water pump (3) are fixedly connected by welding; four hexagonal bolts (10) are fixed inside the negative pressure water pump (3); the primary filter cabin (5) is connected to a No. 3 motor (15) for controlling the movement of the internal filter device of the primary filter cabin (5); a filter screen (16) is installed on the front side of the cyclone (6) and a filter screen (16) is installed on the other side. A filter cabin (20) is installed, the secondary filter cabin (7) is connected to the fourth motor (21) to control the large cylindrical stirring rod (19) and the industrial brush (22) to achieve further cleaning function, the driving propeller (2) is welded and fixedly installed on the wing connector (11), the second motor (13) is used to drive the movement of the entire aircraft, the collection cabin (8) is provided with a connecting hole (25) fixedly connected to the secondary filter cabin (7), the tail nozzle (24) is arranged on the upper part of the collection cabin (8) to obtain the filtered polymetallic nodules, and the pressure sensor (29) is arranged on the other side of the collection cabin (8).

2. The marine polymetallic nodule collecting robot according to claim 1, characterized in that: One end of the guide tube (4) is fixedly connected to the water wave detector (26), and the other end is fixedly connected to the negative pressure water pump (3). A slotted cylindrical head bolt (18) is provided at the position where the guide tube (4) and the negative pressure water pump (3) are in contact, and is fixedly connected to the negative pressure water pump (3). The filter screen (16) is fixed to the housing in the connection between the guide tube (4) and the slotted cylindrical head bolt (18). A small hole is provided on the side where the guide tube (4) is connected to the water wave detector (26).

3. The marine polymetallic nodule collecting robot according to claim 2, characterized in that: One side of the negative pressure water pump (3) is fixedly connected to the guide pipe (4), and the other side is welded to the primary filter cabin (5). The filter screen (16) and the hexagonal bolt (10) are fixedly connected inside the negative pressure water pump (3).

4. The marine polymetallic nodule collecting robot according to claim 3, characterized in that: The cyclone (6) is welded to the right through hole of the first-stage filter cabin (5); the first-stage filter cabin (5) has a columnar cabin section in the middle and is connected to the filter screen (16) on the left side; the first-stage filter cabin (5) is provided with the large cylindrical stirring rod (19) inside, the large cylindrical stirring rod (19) is provided with the small cylindrical knocking rod (17), and the slotted cylindrical head screw (18) is provided at the lower part of the small cylindrical knocking rod (17).

5. The marine polymetallic nodule collecting robot according to claim 4, characterized in that: The cyclone (6) is a left-right through structure, a filter chamber (20) is arranged inside the cyclone, the filter screen (16) is arranged on the left and right sides of the cyclone (6), and the right side of the cyclone (6) is fixedly connected to the secondary filter chamber (7).

6. The marine polymetallic nodule collecting robot according to claim 5, characterized in that: The left side of the secondary filter cabin (7) is welded to the right side of the cyclone (6); partitions are respectively arranged on the upper and lower sides of the left and right offset through holes of the secondary filter cabin (7); the partitions are provided with circular through holes in an annular array; the diameter of the through holes is smaller than the average diameter of the polymetallic nodules and larger than the minimum diameter of the polymetallic nodules; the large cylindrical stirring rod (19) is arranged in the secondary filter cabin (7) to drive the industrial brush (22); and the fourth motor (21) is fixedly connected to the secondary filter cabin (7).

7. The marine polymetallic nodule collecting robot according to claim 6, characterized in that: The rear through hole of the secondary filter cabin (7) is fixedly connected to the collection cabin (8), a base (23) is provided at the lower through hole of the collection cabin (8), a connection hole (25) is provided at a position on the left side of the collection cabin (8) fixed to the secondary filter cabin (7), and a pressure sensor (29) is installed at a rear wall position of the collection cabin (8).

8. The marine polymetallic nodule collecting robot according to claim 7, characterized in that: The collecting cabin (8) is provided with a connecting hole (25) fixed at the annular array through hole, the connecting hole (25) is in conduction with the secondary filtering cabin (7), and connected with the No. 4 motor (21), the left end of the No. 4 motor (21) is connected with the cyclone (6), the cyclone (6) is fixedly connected with the primary filtering cabin (5), the No. 3 motor (15) is fixedly connected with the wake disperser (27), the wake disperser (25) is located in the middle of the collecting vehicle, the wake disperser (27) is externally connected with a driving propeller (2), the No. 3 motor (15) is used to drive the propeller (2), and the propeller (2) is fixedly connected to the end of the main shaft of the vehicle.

9. The marine polymetallic nodule collecting robot according to claim 8, characterized in that: The guide tube (4) is a hollow conduit structure with curved left and right ends and a horizontal middle portion. One end of the guide tube (4) is fixedly connected to the suction nozzle tube (1), and the end is fixedly connected to the connecting hole (25). The middle portion of the guide tube (4) extends outward and is fixedly connected to the upper portion of the wing connector (11). The left and right sides of the exterior of the aircraft shell are similar to fish fin structures. The water wave detector (26) is fixed to the head of the aircraft, and the pressure sensor (29) is arranged at the tail of the aircraft.

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