Eco-friendly deep sea manganese nodule mining robot based on squirrel-cage collector

Abstract

The invention discloses an eco-friendly deep sea manganese nodule mining robot based on a squirrel-cage collector, and relates to the technical field of deep sea mining. The deep sea manganese nodule mining robot comprises a vehicle body, a multi-stage squirrel cage collecting assembly, an ore sand separating assembly and a crawler belt advancing assembly, the multi-stage squirrel cage collecting assembly comprises a plurality of squirrel cage collecting mechanisms, each squirrel cage collecting mechanism is provided with a plurality of flexible spokes, and manganese nodules are conveyed between the adjacent flexible spokes through elastic deformation. The ore sand separation assembly comprises a first separation pipe and a second separation pipe, the first separation pipe and the second separation pipe are arranged in a T shape, a screen and a propeller are arranged in each of the first separation pipe and the second separation pipe, and one side of the second separation pipe is connected with a discharging pipe facing the interior of the vehicle body. Manganese nodules are collected and conveyed through the mouse cage collecting mechanisms by means of elastic deformation, meanwhile, attachments are cleaned and slowly discharged along the supporting plate, large plume is avoided, and the seabed environment is protected.

Description

Technical Field

[0001] The invention relates to the technical field of deep-sea mining, and in particular to an eco-friendly deep-sea manganese nodule mining robot based on a squirrel-cage collector. Background Art

[0002] The mechanical collection devices of traditional underwater robots at this stage have the problems of short life, easy damage and large environmental disturbance; the composite (comprehensive hydraulic) structure is highly complex, the collection rate is unstable, and it will produce plumes to pollute the seabed environment, especially it will interfere with the geological environment of the seabed, as well as affect the biological community and the marine biological environment. In addition, it is clearly stipulated by ISA that environmental disturbance experiments in nodule areas and environmental impact assessment reports are prerequisites for nodule mining, which has brought tremendous pressure to the commercial mining of polymetallic nodules.

[0003] Currently, during the mining process, seabed sediment particles and soft or hard clay will inevitably adhere to the surface of manganese nodules. When collecting manganese nodules, traditional underwater robots will recycle the manganese nodules and the attachments on their surfaces together, causing the attachments to easily clog the recovery pump pipes and cause structural damage. In addition, the extra collected attachments will increase the weight and reduce the collection efficiency. Summary of the invention

[0004] In view of the problem that attachments on the surface of manganese nodules can easily clog the recovery pump tube and reduce the collection efficiency of manganese nodules during mining by current manganese nodule mining robots, the present invention provides an eco-friendly deep-sea manganese nodule mining robot based on a squirrel cage collector.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] The eco-friendly deep-sea manganese nodule mining robot based on a squirrel cage collector includes a vehicle body, a multi-stage squirrel cage collection component, a ore separation component and a crawler travel component, wherein the crawler travel component is arranged at the bottom of the vehicle body, the multi-stage squirrel cage collection component is arranged at the front side of the vehicle body, the multi-stage squirrel cage collection component includes a frame and a plurality of squirrel cage collection mechanisms arranged in an up-and-down staggered manner, and each of the squirrel cage collection mechanisms rotates under the drive of a motor. The squirrel cage collection mechanism has a plurality of flexible spokes, and adjacent flexible spokes are elastically deformed to transport manganese nodules. The ore separation component is arranged in the vehicle body, and the ore separation component includes a first separation tube and a second separation tube, the first separation tube and the second separation tube are arranged in a T-shape, a screen and a propeller are arranged in the first separation tube and the second separation tube, and one side of the second separation tube is connected to a discharge pipe toward the vehicle body.

[0007] Furthermore, the frame includes a guard plate, a support plate and a guide baffle, the support plate is inclined, the two guard plates are fixed on both sides of the support plate, the guide baffle is vertically fixed between the two guard plates, and a first mud discharge port is provided between the guide baffle and the support plate. Each of the squirrel cage collection mechanisms is divided into a first row and a second row, the first row is located below the second row, the first row and the second row are arranged between the two guard plates along an inclined direction, and are both rotatably connected to the guard plates.

[0008] Furthermore, the squirrel cage collection mechanism includes two connecting plates and a placeholder tube, each of the flexible spokes is arranged along the circumference of the two connecting plates and is fixedly connected to the connecting plates, the placeholder tube is fixed between the two connecting plates, and the outer sides of the two connecting plates are connected to a rotating shaft.

[0009] Furthermore, an arc-shaped collecting plate is arranged between the front parts of the two guard plates, the collecting plate is adapted to the outer contour of the adjacent squirrel cage collecting mechanism, and there is a gap between the collecting plate and the adjacent squirrel cage collecting mechanism, and a second mud discharge port is opened between the collecting plate and the support plate.

[0010] Furthermore, the guide baffle is located at the rear between the two guard plates, and the upper portion of the guide baffle is arc-shaped and is adapted to the outer contour of the adjacent squirrel cage collecting structure.

[0011] Furthermore, a trumpet-shaped collecting port is fixed at the front end of the first separation tube, and the collecting port is located behind the multi-stage squirrel cage collecting assembly. A first propeller and a first screen are fixed in the first separation tube, and the first propeller is located at the rear end of the first separation tube; the first propeller pushes the water to flow out of the first separation tube.

[0012] Furthermore, the second separation tube is connected to the bottom of the first separation tube in an inclined shape, and the connection is located in front of the first screen. A second propeller and a second screen are fixed in the second separation tube, and the second propeller is located at the bottom end of the second separation tube; the second propeller pushes the water to flow into the second separation tube.

[0013] Furthermore, the discharge pipe is fixedly connected to the rear side of the second separation pipe in an inclined manner, and the connection point is located above the second screen.

[0014] Furthermore, the track travel assembly includes a track, a traveling frame, a tensioner, a traction wheel, a driving wheel and a guide mechanism, wherein the guiding mechanism is arranged at the bottom rear side of the traveling frame, the tensioner is arranged at the bottom front side of the traveling frame, the traction wheel is arranged at the top rear side of the traveling frame, and the driving wheel is arranged at the top front side of the traveling frame.

[0015] Furthermore, the guide frame includes a connecting frame, a first guide wheel, a second guide wheel and a spring shock absorber, the connecting frame is L-shaped, the first guide wheel is arranged at the front end of the connecting frame, the second guide wheel is arranged at the rear end of the connecting frame, and the top of the connecting frame is rotatably connected to the walking frame. The diameter of the first guide wheel is smaller than the diameter of the second guide wheel; one end of the spring shock absorber is rotatably connected to the rear of the connecting frame, and the other end is rotatably connected to the walking frame.

[0016] The beneficial effects of the present invention are as follows: the several squirrel cage collection mechanisms of the present invention utilize the elastic deformation of the flexible spokes to collect and transport the manganese nodules, and the attachments on the surface of the manganese nodules can be cleaned when they are transferred between different squirrel cage collection mechanisms. The left guard plate and the right guard plate can prevent the attachments cleaned from spreading to the surroundings, and the support plate can allow the attachments to be discharged slowly, avoiding the generation of large plumes, and effectively protecting the deep seabed environment. The first separation tube and the second separation tube of the present invention can separate the manganese nodules from the attachments under the action of gravity, and at the same time, the water flow generated by the propeller can flush the surface of the manganese nodules, and carry the attachments and the like to be discharged directly from the first separation tube, avoiding the attachments from entering the storage bin, avoiding the attachments from clogging the recovery pump pipe, and improving the collection efficiency of the manganese nodules. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Shown is a schematic diagram of the structural principle of an embodiment of the present invention.

[0018] Figure 2 Shown Figure 1 Right view of .

[0019] Figure 3 Shown Figure 1 Top view of the .

[0020] Figure 4 Shown Figure 3 Cross-sectional view at point A.

[0021] Figure 5 Shown Figure 4 Side view of .

[0022] Explanation of the accompanying drawings: 1. Vehicle body; 2. Storage bin; 3. Support plate; 4. Guard plate; 5. Guide plate; 6. Guide baffle; 7. Connecting plate; 8. Flexible spokes; 9. Placeholder tube; 10. Collecting port; 11. First separation tube; 12. First screen; 13. First propeller; 14. Second separation tube; 15. Discharge tube; 16. Second screen; 17. Second propeller; 18. Auxiliary propeller; 19. Traveling frame; 20. Driving wheel; 21. Tensioner; 22. Connecting rod; 23. Connecting frame; 24. First guide wheel; 25. Second guide wheel; 26. Shock absorber; 27. Support roller. DETAILED DESCRIPTION

[0023] The present invention discloses an eco-friendly deep-sea manganese nodule mining robot based on a squirrel cage collector. An implementation mode of the present invention is described in detail below in conjunction with the accompanying drawings.

[0024] Combination Figure 1 and Figure 2 As shown, the deep-sea manganese nodule mining robot includes a vehicle body 1, a multi-stage squirrel cage collection component, an ore separation component and a crawler travel component. The vehicle body 1 has a storage bin 2 for storing manganese nodules, and a plurality of auxiliary thrusters 18 are arranged on the top of the vehicle body 1. The frame includes a guard plate 4, a support plate 3, a collection plate 5 and a guide baffle 6. The guard plate 4 is divided into a left guard plate and a right guard plate. The support plate 3 is fixed between the left guard plate and the right guard plate in an inclined shape and is located at the bottom between the left guard plate and the right guard plate. The collection plate 5 is arc-shaped and fixed at the front part between the left guard plate and the right guard plate. A second mud discharge port is provided between the collection plate 5 and the front end of the support plate 3. The guide baffle 6 is vertically fixed at the rear part between the left guard plate and the right guard plate. A first mud discharge port is provided between the guide baffle 6 and the rear end of the support plate 3. The upper part of the guide baffle 6 is arc-shaped, and the upper part of the guide baffle 6 is higher than the support plate 3.

[0025] Combination Figure 3 and Figure 4 As shown, the multi-stage cage collection assembly is fixed on the front side of the vehicle body 1, including a frame and a plurality of cage collection mechanisms, the plurality of cage collection mechanisms are divided into a first row and a second row, and the first row is located below the second row. The first row and the second row are both arranged between the left guard plate and the right guard plate along the inclined direction, and are both rotatably connected to the left guard plate and the right guard plate. The plurality of cage collection mechanisms in the first row and the plurality of cage collection mechanisms in the second row are arranged in an up-and-down staggered manner, and there is a gap between adjacent cage collection mechanisms. The collection plate 5 is adjacent to the cage collection mechanism located at the front end of the first row, and the collection plate 5 is adapted to the outer contour of the cage collection mechanism, and there is a gap between the collection plate 5 and the cage collection mechanism, and the gap is used for the transportation of manganese nodules. The upper part of the guide baffle 6 is adjacent to the cage collection mechanism located at the rear end of the first row, and the upper part of the guide baffle 6 is adapted to the outer contour of the cage collection mechanism, and there is a gap between the upper part of the guide baffle 6 and the cage collection mechanism.

[0026] The squirrel cage collection mechanism includes a connecting plate 7, a placeholder tube 9 and a plurality of flexible spokes 8. The first connecting plate and the second connecting plate are both circular, and the connecting plate is divided into a first connecting plate and a second connecting plate. The placeholder tube 9 is coaxial with the first connecting plate and the second connecting plate. One end of the placeholder tube 9 is fixedly connected to the center position of the first connecting plate, and the other end is fixedly connected to the center position of the second connecting tube. Each flexible spoke 8 is evenly arranged along the circumference of the first connecting plate and the second connecting plate, and is fixedly connected to the edge position of the first connecting plate and the second connecting plate. The flexible spoke 8 is elastic, and the adjacent flexible spokes 8 can be elastically deformed under the action of external force to clamp the manganese nodules. The placeholder tube 9 is used to prevent the manganese nodules from entering the space surrounded by each flexible spoke 8, so as to facilitate the release of the manganese nodules from between the adjacent flexible spokes 8. The first connecting plate and the second connecting plate are fixedly connected to the outer center position with a rotating shaft, and the first connecting plate and the second connecting plate are rotatably connected to the left guard plate and the right guard plate through the rotating shaft and the bearing. Gears are arranged on the rotating shafts on one side of the first connecting plate and the second connecting plate, and the motor is connected to the gears through a chain transmission to drive the cage collection mechanisms to rotate. The cage collection mechanisms in the second row rotate counterclockwise with the cage collection mechanism at the front end of the first row, and the remaining cage collection mechanisms in the first row rotate clockwise.

[0027] like Figure 5 As shown, the ore sand separation assembly is fixed in the vehicle body 1, and the ore sand separation assembly includes a first separation tube 11 and a second separation tube 14, and the first separation tube 11 and the second separation tube 14 are fixedly connected in a T shape. A trumpet-shaped collecting port 10 is fixed at the end of the first separation tube 11, and the collecting port 10 is adjacent to the guide baffle 6 and faces the gap between the squirrel cage collecting mechanism located at the rear end of the first row and the squirrel cage collecting mechanism located at the rear end of the second row. A first propeller 13 and a first screen 12 are fixedly connected in the first separation tube 11, and the first propeller 13 is located at the rear end of the first separation tube 11, and the first propeller 13 pushes the water flow to flow outside the first separation tube 11. The second separation tube 14 is fixedly connected to the bottom of the first separation tube 11 in an inclined shape, and the connection is located in front of the first screen 12. A second propeller 17 and a second screen 16 are fixedly connected in the second separation tube 14, and the second propeller 17 is located at the bottom end of the second separation tube 14, and the second propeller 17 pushes the water flow to flow into the second separation tube 14. An inclined discharge pipe 15 is fixedly connected to the rear side of the second separation pipe 14 , and the connection between the discharge pipe 15 and the second separation pipe 14 is located above the second screen 16 .

[0028] The crawler travel assembly includes a crawler, a traveling frame 19, a tensioner 21, a traction wheel 27, a driving wheel 20 and a guide mechanism. The guide mechanism is arranged at the bottom rear side of the traveling frame 19. The guide mechanism includes a connecting frame 23, a first guide wheel 24, a second guide wheel 25 and a spring shock absorber 26. The connecting frame 23 is L-shaped, the first guide wheel 24 is rotatably connected to the front end of the connecting frame 23, the second guide wheel 25 is arranged at the rear end of the connecting frame 23, and the top of the connecting member is rotatably connected to the traveling frame 19. The diameter of the first guide wheel 24 is larger than the diameter of the second guide wheel 25. The bottom end of the spring shock absorber 26 is rotatably connected to the rear of the connecting frame 23, and the top end is rotatably connected to the traveling frame 19. The tensioner 21 is divided into a first tensioner and a second tensioner. Both the first tensioner and the second tensioner include a roller and a rotating shaft, and both ends of the rotating shaft are rotatably connected to a roller. The rotating shaft of the first tensioner and the rotating shaft of the second tensioner are fixedly connected by a connecting rod 22. The inner end of the first tensioner shaft is rotatably connected to the shock absorber 26, and the other end of the shock absorber 26 is rotatably connected to the traveling frame 19. The inner end of the second tensioner shaft is rotatably connected to the shock absorber 26, and the other end of the shock absorber 26 is rotatably connected to the traveling frame 19.

[0029] During operation, the crawler travel assembly drives the vehicle body 1 to move, and each cage collection mechanism rotates. After the cage collection mechanism at the front end of the first row contacts the manganese nodules, the adjacent flexible spokes 8 will undergo elastic deformation, driving the manganese nodules to move into the gap between the collection plate 5 and the cage collection mechanism. The flexible spokes 8 cooperate with the collection plate 5 to further clamp the manganese nodules. At the same time, the placeholder tube 9 is located in the space surrounded by the flexible spokes 8, which can prevent the manganese nodules from directly entering the space surrounded by the flexible spokes 8. After the adjacent flexible spokes 8 drive the manganese nodules to rotate to a position where they are out of contact with the collection plate 5, the flexible spokes 8 release the manganese nodules under the action of elastic potential energy, and then the manganese nodules are transported in the gap between the cage collection mechanism in the first row and the cage collection mechanism in the second row. In the process of transporting manganese nodules by the multi-stage cage collection assembly, the attachments on the surface of the manganese nodules will be shaken off as the manganese nodules are transferred between the cage collection mechanisms at different positions, and the manganese nodules are initially cleaned. There is a gap between the squirrel cage collection mechanism of the first row and the support plate 3. Among the attachments that are shaken off, the heavy attachments will be discharged from the second mud discharge port along the support plate 3, and the light attachments will be discharged from the first mud discharge port along the support plate 3 under the push of the water flow. The left guard plate and the right guard plate can prevent the light attachments from spreading to the surroundings, and the guide baffles 6 arranged vertically can guide the light attachments to re-enter the sediments on the seabed. The upper part of the guide baffle 6 is adjacent to the squirrel cage collection mechanism at the rear end of the first row, which is used to guide the manganese nodules to the collection port 10.

[0030] The first propeller 13 pushes the water flow in the first separation tube 11 to move backward, and the water flow drives the manganese nodules to move backward. The first screen 12 can separate the attachments such as mud and sand, so that the attachments pass through the first screen 12 and are discharged from the rear end of the first separation tube 11 with the water flow. Under the action of gravity, the manganese nodules will fall into the second separation tube 14 located at the bottom of the first separation tube 11. The second propeller 17 pushes the low-speed water flow to flow upward along the second separation tube 14, which can prevent the attachments from falling into the second separation tube 14 with the manganese nodules. The water flow driven by the second propeller 17 drives the attachments to be discharged from the rear end of the first separation tube 11. The second screen 16 is inclined toward the discharge pipe 15, and the second screen 16 can make the manganese nodules roll into the discharge pipe 15 and be discharged into the storage bin 2 of the vehicle body 1 through the discharge pipe 15. The second screen 16 can further separate the attachments. A third mud discharge port is provided at the bottom of the vehicle body 1 and is located below the second separation pipe 14 to facilitate the attachments discharged from the second separation pipe 14 to be discharged outside the vehicle body 1 through the third mud discharge port.

[0031] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. Eco-friendly deep-sea manganese nodule mining robot based on squirrel cage collector, characterized by: The invention comprises a vehicle body (1), a multi-stage cage collection assembly, a ore separation assembly and a crawler travel assembly, wherein the crawler travel assembly is arranged at the bottom of the vehicle body (1), the multi-stage cage collection assembly is arranged at the front side of the vehicle body (1), the multi-stage cage collection assembly comprises a frame and a plurality of cage collection mechanisms arranged in an up-and-down staggered manner, each of the cage collection mechanisms rotates under the drive of a motor; the cage collection mechanism has a plurality of flexible spokes (8), and adjacent flexible spokes (8) are elastically deformed to transport manganese nodules; the ore separation assembly is arranged in the vehicle body (1), the ore separation assembly comprises a first separation pipe (11) and a second separation pipe (14), the first separation pipe (11) and the second separation pipe (14) are arranged in a T-shape, a screen and a propeller are arranged in the first separation pipe (11) and the second separation pipe (14), and one side of the second separation pipe (14) is connected to a discharge pipe (15) facing the vehicle body (1).

2. The eco-friendly deep-sea manganese nodule mining robot based on a squirrel cage collector according to claim 1, characterized in that: The frame comprises a guard plate (4), a support plate (3) and a guide baffle (6); the support plate (3) is inclined; the two guard plates (4) are fixed on both sides of the support plate (3); the guide baffle (6) is fixed vertically between the two guard plates (4); and a first mud discharge port is provided between the guide baffle (6) and the support plate (3); Each of the squirrel cage collection mechanisms is divided into a first row and a second row, the first row is located below the second row, the first row and the second row are arranged between the two guard plates (4) along an inclined direction, and are both rotatably connected to the guard plates (4).

3. The eco-friendly deep-sea manganese nodule mining robot based on a squirrel cage collector according to claim 2, characterized in that: The squirrel cage collection mechanism comprises two connecting plates (7) and a placeholder tube (9), each of the flexible spokes (8) is arranged along the circumference of the two connecting plates (7) and is fixedly connected to the connecting plates (7), the placeholder tube (9) is fixed between the two connecting plates (7), and the outer sides of the two connecting plates (7) are connected to a rotating shaft.

4. The eco-friendly deep-sea manganese nodule mining robot based on a squirrel cage collector according to claim 2, characterized in that: An arc-shaped collecting plate (5) is arranged between the front parts of the two guard plates (4), the collecting plate (5) is adapted to the outer contour of the adjacent squirrel cage collecting mechanism, and there is a gap between the collecting plate (5) and the adjacent squirrel cage collecting mechanism, and a second mud discharge port is provided between the collecting plate (5) and the supporting plate (3).

5. The eco-friendly deep-sea manganese nodule mining robot based on a squirrel cage collector according to claim 2, characterized in that: The guide baffle (6) is located at the rear between the two guard plates (4); the upper portion of the guide baffle (6) is arc-shaped and is adapted to the outer contour of the adjacent squirrel cage collection structure.

6. The eco-friendly deep-sea manganese nodule mining robot based on a squirrel cage collector according to claim 1, characterized in that: A trumpet-shaped collecting port (10) is fixed at the front end of the first separation tube (11), and the collecting port (10) is located behind the multi-stage squirrel cage collecting assembly. A first propeller (13) and a first screen (12) are fixed inside the first separation tube (11), and the first propeller (13) is located at the rear end of the first separation tube (11); the first propeller (13) pushes water to flow out of the first separation tube (11).

7. The eco-friendly deep-sea manganese nodule mining robot based on a squirrel cage collector according to claim 6, characterized in that: The second separation tube (14) is connected to the bottom of the first separation tube (11) in an inclined manner, and the connection point is located in front of the first screen (12). A second propeller (17) and a second screen (16) are fixed in the second separation tube (14), and the second propeller (17) is located at the bottom end of the second separation tube (14); the second propeller (17) pushes water to flow into the second separation tube (14).

8. The eco-friendly deep-sea manganese nodule mining robot based on a squirrel cage collector according to claim 6, characterized in that: The discharge pipe (15) is fixedly connected to the rear side of the second separation pipe (14) in an inclined manner, and the connection point is located above the second screen (16).

9. The eco-friendly deep-sea manganese nodule mining robot based on a squirrel cage collector according to claim 1, characterized in that: The crawler travel assembly comprises a crawler, a traveling frame (19), a tensioner (21), a traction wheel (27), a driving wheel (20) and a guide mechanism, wherein the guiding mechanism is arranged at the bottom rear side of the traveling frame (19), the tensioner (21) is arranged at the bottom front side of the traveling frame (19), the traction wheel (27) is arranged at the top rear side of the traveling frame (19), and the driving wheel (20) is arranged at the top front side of the traveling frame (19).

10. The eco-friendly deep-sea manganese nodule mining robot based on a squirrel cage collector according to claim 9, characterized in that: The guide frame comprises a connecting frame (23), a first guide wheel (24), a second guide wheel (25) and a spring shock absorber (26); the connecting frame (23) is L-shaped; the first guide wheel (24) is arranged at the front end of the connecting frame (23); the second guide wheel (25) is arranged at the rear end of the connecting frame (23); and the top of the connecting frame (23) is rotatably connected to the walking frame (19); The diameter of the first guide wheel (24) is smaller than the diameter of the second guide wheel (25); one end of the spring shock absorber (26) is rotatably connected to the rear of the connecting frame (23), and the other end is rotatably connected to the walking frame (19).

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