Mining vehicle collecting and releasing oscillation stopping device and method based on scientific investigation ship

Abstract

The invention relates to the technical field of ocean scientific investigation, and discloses a mining vehicle collecting and releasing oscillation stopping device and method based on a scientific investigation ship, the device comprises the scientific investigation ship, the scientific investigation ship is connected with a direction adjusting table through a direction adjusting mechanism, and the direction adjusting mechanism is used for adjusting the direction of the direction adjusting table; the direction adjusting table is connected with a lifting mechanism, so that the mining vehicle can be prevented from swinging in the process of being hoisted into seawater, the swinging can be prevented from multiple different directions, the stability of the mining vehicle in the process of being hoisted into the ocean is ensured, and the mining vehicle is prevented from swinging in different directions. Overall shaking caused by excessive vibration is prevented; the cable can be stopped from swinging in the take-up and pay-off process, and the situation that the cable moves to cause shaking and oscillation, and take-up and pay-off of the mining vehicle are affected is prevented; the mining vehicle can be hung, and the mining vehicle can be adjusted when being retracted and released, so that the mining vehicle can be better retracted and released.

Description

Technical Field

[0001] The present invention belongs to the technical field of marine scientific research, and particularly relates to a device and method for retracting, releasing and damping a mining vehicle based on a scientific research ship. Background Art

[0002] Marine scientific research, that is, marine scientific investigation, refers to the scientific research work in which scientists take a marine scientific research ship to a survey area determined according to the survey objectives, and conduct observations, scans and samplings on the survey area through various instruments and equipment on the ship or by deploying and retrieving specific equipment, obtain relevant data and samples, and conduct various scientific experiments on the obtained data and samples to understand the ocean.

[0003] When conducting marine scientific research, it is necessary to carry out mining research on polymetallic sulfides on the seabed. When mining, a subsea mining vehicle is needed for mining, and the mining vehicle needs to be lifted into the water. Currently, basically, the mining vehicle is lifted into the ocean by a lifting device on the scientific research ship. During the lifting process, there will be shaking and vibration when lifting into the sea water, resulting in overall instability. In the case of excessive vibration, it may cause capsizing. Summary of the Invention

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a device and method for retracting, releasing and damping a mining vehicle based on a scientific research ship, which effectively solves the problems mentioned in the above background art.

[0005] To achieve the above object, the present invention provides the following technical solution: A device for retracting, releasing and damping a mining vehicle based on a scientific research ship, including a scientific research ship, which is connected to a direction adjustment platform through a direction adjustment mechanism. The direction adjustment mechanism is used to adjust the direction of the direction adjustment platform, facilitating the retraction and release of the mining vehicle in different directions. An elevation mechanism is connected to the direction adjustment platform. The elevation mechanism is used to elevate the mining vehicle during retraction and release. A retraction and release mechanism is connected to the direction adjustment platform. The retraction and release mechanism is used to retract and release the mining vehicle. A first cable damping mechanism and a second cable damping mechanism are sequentially connected to the retraction and release mechanism. The first cable damping mechanism and the second cable damping mechanism are used to damp the cable. A damping mechanism is connected to the elevation mechanism. The damping mechanism is used to damp the mining vehicle during retraction and release. An adjustment mechanism is connected to the end of the retraction and release mechanism. The adjustment mechanism is used to adjust the head orientation of the mining vehicle during retraction and release, facilitating retraction and release. A mounting mechanism is connected to the adjustment mechanism. The mounting mechanism is used to mount the mining vehicle.

[0006] Preferably, the anti-swing mechanism includes an upper groove block that is not fixedly installed on the upper part of the lifting frame. One end of the anti-swing frame is hinged to the upper groove block. The anti-swing frames are supported and connected by a first connecting rod. One end of the other side of the anti-swing frame is hinged to one end of the anti-swing rotating rod. The anti-swing rotating rods are supported and connected by a second connecting rod. Symmetrically and fixedly connected to the lower part of the lifting frame are lower groove blocks. One end of a first electric push rod is hinged to the lower groove block. The other end of the first electric push rod is hinged to a first groove block. The first groove block is fixedly installed inside the anti-swing frame. Fixedly connected inside the anti-swing frame is a third groove block. One end of a second electric push rod is hinged to the third groove block. The other end of the second electric push rod is hinged to a second groove block. The second groove block is fixedly installed on the upper part of the anti-swing rotating rod. The other end of the anti-swing rotating rod is hinged to an anti-swing groove block. The anti-swing groove block is fixedly installed on the connecting frame. The connecting frame is symmetrically and fixedly installed on the anti-swing cylinder. Inside the anti-swing cylinder is an anti-swing gear cavity. Rotationally connected between the end walls of the anti-swing gear cavity is an anti-swing driving gear shaft. The anti-swing driving gear shaft is connected to the power output shaft of an anti-swing motor fixedly installed inside the anti-swing cylinder. Fixedly connected to the outer surface of the anti-swing driving gear shaft is an anti-swing driving gear. The anti-swing driving gear meshes with the upper part of an anti-swing annular rack. The anti-swing annular rack is rotatably installed between the end walls of the anti-swing gear cavity. The lower part of the anti-swing annular rack meshes with a number of anti-swing driven gears. The anti-swing driven gears are fixedly installed on the outer surface of an anti-swing lead screw. The anti-swing lead screw is rotatably installed on the end wall of the anti-swing gear cavity. Threadedly connected to the outer surface of the anti-swing lead screw is an anti-swing threaded barrel. The anti-swing threaded barrel is slidably installed through the end wall of the anti-swing gear cavity and extends to the inside of the anti-swing cylinder. Fixedly connected to the end of the anti-swing threaded barrel is an anti-swing clamping plate. A connecting column is clamped and connected between the anti-swing clamping plates.

[0007] Preferably, the winding and unwinding mechanism includes fixing plates symmetrically and fixedly installed on the direction adjustment table. Inside the fixing plates is a winding and unwinding gear cavity. Rotationally connected between the end walls of one side of the winding and unwinding gear cavity is a driving shaft. The driving shaft is connected to the power output shaft of a winding and unwinding motor fixedly installed on the fixing plate. Fixedly connected to the outer surface of the driving shaft is a driving gear. Rotationally connected between the winding and unwinding gear cavities is a winding and unwinding rotating shaft. Symmetrically and fixedly connected to the outer surface of the winding and unwinding rotating shaft are winding and unwinding gears. One side of the winding and unwinding gear meshes with the driving gear. The other side of the winding and unwinding gear meshes with a stop tooth. The stop tooth is fixedly installed on the upper end of a stop electric push rod. The stop electric push rod is fixedly installed on the bottom wall of the other side of the winding and unwinding gear cavity. Fixedly connected to the outer surface of the winding and unwinding rotating shaft between the fixing plates is a winch. Wound around the outer surface of the winch is a cable. The end of the cable is fixedly connected to the connecting column.

[0008] Preferably, the adjustment mechanism includes an adjustment frame detachably connected to the lower part of the connecting column. An adjustment gear chamber is provided inside the adjustment frame. An adjustment driving gear shaft is rotatably connected between the end walls of the adjustment gear chamber. The adjustment driving gear shaft is connected to the power output shaft of an adjustment motor fixedly installed inside the adjustment frame. An adjustment driving gear is fixedly connected to the outer surface of the adjustment driving gear shaft. The adjustment driving gear meshes with an adjustment driven gear. The adjustment driven gear is fixedly installed on the outer surface of an adjustment driven gear shaft. The adjustment driven gear shaft is rotatably installed between the end walls of the adjustment gear chamber. The adjustment driven gear shaft extends to the lower part of the adjustment frame. A mounting frame is fixedly connected to the lower end of the adjustment driven gear shaft. The mounting frame is rotatably connected to the adjustment frame and connected with a stabilizing ring. An annular frame is rotatably connected to the outer surface of the adjustment frame. A plurality of electric telescopic plates are fixedly connected to the end wall of the annular frame. The end of the electric telescopic plate away from the annular frame is fixedly connected with a stabilizing hanging claw. The stabilizing hanging claw is hooked and clamped at the four corner positions of the mounting frame.

[0009] Preferably, the lifting mechanism includes electric cylinder connecting frames symmetrically and fixedly connected to the upper part of the direction adjustment platform. One end of an electric cylinder is hinged to the electric cylinder connecting frame. The other end of the electric cylinder is hinged to a pushing groove block. The pushing groove block is fixedly installed on the lifting frame. The lifting frame is hinged to a lifting frame connecting plate. The lifting frame connecting plates are symmetrically and fixedly installed on the direction adjustment platform. A fixed disk is fixedly installed on the lifting frame. A wire groove is provided on the fixed disk. The wire passes through the wire groove. A limiting slide rod for preventing the wire from detaching is fixedly connected between the end walls of the wire groove.

[0010] Preferably, the first wire anti-sway mechanism includes first sliding plates symmetrically and slidably connected to the outside of the winch. A fixed rod is fixedly connected between the first sliding plates. One end of a telescopic tube is fixedly connected to the fixed rod. The telescopic tube is telescopic. The wire passes through the inside of the telescopic tube. The other end of the telescopic tube is symmetrically and fixedly connected with first connecting sliding rods. The first connecting sliding rods are slidably connected between the end walls of an annular groove. The annular groove is symmetrically machined on the end wall of the wire groove.

[0011] Preferably, a second connecting slide rod is slidably connected between the end walls of the annular groove of the second cable anti-sway mechanism. One end of the vertical telescopic tube is fixedly connected between the second connecting slide rods. The cable passes through the vertical telescopic tube. A limiting sleeve is detachably connected to the outer surface of the vertical telescopic tube. One end of the mounting rod is symmetrically and fixedly connected to the limiting sleeve. The other end of the mounting rod is fixedly connected to the second slide plate. The second slide plate is symmetrically slidably connected to the outside of the fixed disk. The vertical telescopic tube is telescopic. The lower end of the vertical telescopic tube is fixedly connected to the upper part of the connecting column. A clamping chute is provided on the connecting frame. A clamping electric screw rod is rotatably connected between the end walls of the clamping chute. A clamping nut block is threadedly connected to the outer surface of the clamping electric screw rod. The clamping nut block is slidably connected between the end walls of the clamping chute. One end of the clamping frame is fixedly connected to the upper part of the clamping nut block. The other end of the clamping frame is fixedly connected to a clamping plate. The clamping plate clamps and stabilizes the lower end of the vertical telescopic tube.

[0012] Preferably, the direction adjustment mechanism includes a direction adjustment gear chamber provided inside the scientific research ship. A direction adjustment gear shaft is rotatably connected between the end walls of the direction adjustment gear chamber. The direction adjustment gear shaft is connected to the power output shaft of a direction adjustment motor fixedly installed inside the scientific research ship. A direction adjustment gear is fixedly connected to the outer surface of the direction adjustment gear shaft. The direction adjustment gear meshes with a direction adjustment annular rack. The direction adjustment annular rack is rotatably installed on the scientific research ship. The upper part of the direction adjustment annular rack is fixedly connected to the rotating table. The rotating table is rotatably connected to the scientific research ship. The upper part of the rotating table is fixedly connected to the direction adjustment table.

[0013] Preferably, the mounting mechanism includes a plurality of mounting chutes provided at the lower part of the mounting frame. A mounting electric screw rod is rotatably connected inside the mounting chutes. A mounting nut plate is threadedly connected to the outer surface of the mounting electric screw rod. The mounting nut plate is slidably connected between the end walls of the mounting chutes. One end of the mounting nut plate is fixedly connected to a clamping plate. The lower part of the clamping plate is fixedly connected to a mounting plate. A mining vehicle is mounted on the mounting plate. An electromagnet is fixedly connected to the lower part of the mounting frame. The electromagnet adsorbs an adsorption disk. The adsorption disk is fixedly pressed on the upper part of the mining vehicle. The clamping plate is telescopically adjustable.

[0014] The present invention provides a method for retracting, releasing and anti-swaying a polymetallic sulfide mining vehicle based on a scientific research ship. Based on the above-mentioned retracting, releasing and anti-swaying device for a mining vehicle based on a scientific research ship, the steps include: Step 1: Mount the mining vehicle through the mounting mechanism and mount it under the mounting frame. Step 2: After the mounting is completed, the direction adjustment mechanism moves, thereby driving the direction adjustment table to rotate to the corresponding direction. Step 3: After rotating to the corresponding direction, the lifting mechanism moves, driving the lifting frame to move, and then driving the mining vehicle to lift and lower; Step 4: The retracting and deploying mechanism moves, driving the cable to move, then driving the mounting frame to move, and finally driving the mining vehicle to move and be placed in the water; Step 5: When lifting and lowering and retracting and deploying the mining vehicle, the anti-sway mechanism moves to perform anti-sway, preventing the generation of vibrations that may cause overall instability; Step 6: When the retracting and deploying mechanism moves, the first cable anti-sway mechanism and the second cable anti-sway mechanism move to prevent the cable from vibrating during the movement process.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The present invention provides a mining vehicle retracting, deploying, and anti-sway device based on a scientific research vessel, which can achieve anti-sway during the process of lowering the mining vehicle into seawater, can perform anti-sway from multiple different directions, ensure stability during the process of lowering into the ocean, and prevent overall shaking caused by excessive vibration.

[0016] 2. The present invention provides a mining vehicle retracting, deploying, and anti-sway device based on a scientific research vessel, which can achieve anti-sway of the cable during the retracting and deploying process, prevent the cable from moving erratically, causing shaking and vibration, and affecting the retracting and deploying of the mining vehicle.

[0017] 3. The present invention provides a mining vehicle retracting, deploying, and anti-sway device based on a scientific research vessel, which can achieve mounting of the mining vehicle and can also adjust the mining vehicle during retracting and deploying, facilitating better retracting and deploying of the mining vehicle. Description of the Drawings

[0018] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention.

[0019] In the drawings: Figure 1 It is a schematic structural diagram of a mining vehicle retracting, deploying, and anti-sway device based on a scientific research vessel of the present invention in the first direction; Figure 2 It is a schematic structural diagram of a mining vehicle retracting, deploying, and anti-sway device based on a scientific research vessel of the present invention in the second direction; Figure 3 It is a schematic structural diagram of a mining vehicle retracting, deploying, and anti-sway device based on a scientific research vessel of the present invention in the third direction; Figure 4 It is a schematic structural diagram of a mining vehicle retracting, deploying, and anti-sway device based on a scientific research vessel of the present invention in the fourth direction; Figure 5Schematic diagram of the fifth-direction structure of a mining vehicle retracting and anti-sway device based on a scientific research ship in the present invention; Figure 6 Schematic diagram of the first partial structure of a mining vehicle retracting and anti-sway device based on a scientific research ship in the present invention; Figure 7 Schematic diagram of the second partial structure of a mining vehicle retracting and anti-sway device based on a scientific research ship in the present invention; Figure 8 Schematic diagram of the third partial structure of a mining vehicle retracting and anti-sway device based on a scientific research ship in the present invention; Figure 9 Schematic diagram of the fourth partial structure of a mining vehicle retracting and anti-sway device based on a scientific research ship in the present invention; Figure 10 Schematic diagram of the fifth partial structure of a mining vehicle retracting and anti-sway device based on a scientific research ship in the present invention; Figure 11 Schematic diagram of the sixth partial structure of a mining vehicle retracting and anti-sway device based on a scientific research ship in the present invention; Figure 12 Schematic diagram of the seventh partial structure of a mining vehicle retracting and anti-sway device based on a scientific research ship in the present invention; Figure 13 Schematic diagram of the eighth partial structure of a mining vehicle retracting and anti-sway device based on a scientific research ship in the present invention; Figure 14 Schematic diagram of the ninth partial structure of a mining vehicle retracting and anti-sway device based on a scientific research ship in the present invention; Figure 15 Schematic diagram of the tenth partial structure of a mining vehicle retracting and anti-sway device based on a scientific research ship in the present invention; Figure 16 Schematic diagram of the eleventh partial structure of a mining vehicle retracting and anti-sway device based on a scientific research ship in the present invention; Figure 17 Schematic diagram of the sixth-direction structure of a mining vehicle retracting and anti-sway device based on a scientific research ship in the present invention; Figure 18 For Figure 17 Cross-sectional structure schematic diagram at A-A in; Figure 19 For Figure 18 Cross-sectional structure schematic diagram at B-B in; Figure 20 For Figure 17 Cross-sectional structure schematic diagram at C-C in; Figure 21 For Figure 18 Enlarged structure schematic diagram at D in.

[0020] In the figure: 1 - scientific research ship, 2 - storage battery, 3 - direction adjustment platform, 4 - electric cylinder connecting frame, 5 - electric cylinder, 6 - pushing groove block, 7 - lifting frame, 8 - upper groove block, 9 - anti-sway frame, 10 - first connecting rod, 11 - first groove block, 12 - first electric push rod, 13 - telescopic pipe, 14 - lifting frame connecting plate, 15 - fixed rod, 16 - first sliding plate, 17 - fixed plate, 18 - direction adjustment gear shaft, 19 - transmission line, 20 - cable, 21 - fixed disk, 22 - second electric push rod, 23 - lower groove block, 24 - limiting slide rod, 25 - first connecting slide rod, 26 - wire winding groove, 28 - mounting rack, 29 - stable hanging claw, 30 - retracting and releasing motor, 31 - mining vehicle, 32 - annular frame, 33 - electric telescopic plate, 34 - anti-sway cylinder, 35 - vertical telescopic pipe, 36 - mounting rod, 37 - limiting sleeve, 38 - second sliding plate, 39 - anti-sway rotating rod, 40 - second connecting rod, 41 - clamping plate, 42 - mounting plate, 43 - rotating table, 44 - direction adjustment gear, 45 - direction adjustment motor, 46 - second groove block, 47 - direction adjustment annular rack, 48 - third groove block, 49 - anti-sway groove block, 50 - connecting frame, 51 - retracting and releasing gear, 52 - stop tooth, 53 - stop electric push rod, 54 - winch, 55 - driving gear, 56 - driving shaft, 57 - retracting and releasing rotating shaft, 58 - clamping frame, 59 - clamping plate, 60 - clamping nut block, 61 - second connecting slide rod, 62 - clamping chute, 63 - clamping electric lead screw, 64 - electromagnet, 65 - adsorption disk, 66 - anti-sway annular rack, 67 - anti-sway lead screw, 68 - adjustment frame, 69 - anti-sway driving gear, 70 - anti-sway motor, 71 - adjustment driven gear, 72 - adjustment driven gear shaft, 73 - adjustment driving gear, 74 - adjustment motor, 75 - mounting nut plate, 76 - mounting electric lead screw, 77 - anti-sway clamping plate, 79 - direction adjustment gear cavity, 80 - annular groove, 81 - retracting and releasing gear cavity, 82 - adjustment gear cavity, 83 - adjustment driving gear shaft, 84 - anti-sway driven gear, 85 - anti-sway driving gear shaft, 86 - anti-sway threaded cylinder, 87 - anti-sway gear cavity, 88 - connecting column. Detailed implementation manners

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a 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 those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0022] As Figure 1-21As shown in the figure, the present invention provides a hoisting and anti-sway device for a mining vehicle based on a scientific research ship. The components in the device are made of erosion-resistant, pressure-resistant and wear-resistant materials, and include a scientific research ship 1. The scientific research ship 1 is connected to a direction adjustment platform 3 through a direction adjustment mechanism. The direction adjustment mechanism is used to adjust the direction of the direction adjustment platform 3 to facilitate the hoisting and lowering of the mining vehicle in different directions. A lifting mechanism is connected to the direction adjustment platform 3. The lifting mechanism is used to lift and lower the mining vehicle during hoisting and lowering. A hoisting and lowering mechanism is connected to the direction adjustment platform 3. The hoisting and lowering mechanism is used to hoist and lower the mining vehicle. A first cable anti-sway mechanism and a second cable anti-sway mechanism are sequentially connected to the hoisting and lowering mechanism. The first cable anti-sway mechanism and the second cable anti-sway mechanism are used to anti-sway the cable. An anti-sway mechanism is connected to the lifting mechanism. The anti-sway mechanism is used to anti-sway the mining vehicle during hoisting and lowering. An adjustment mechanism is connected to the end of the hoisting and lowering mechanism. The adjustment mechanism is used to adjust the head orientation of the mining vehicle during hoisting and lowering to facilitate hoisting and lowering. A mounting mechanism is connected to the adjustment mechanism. The mounting mechanism is used to mount the mining vehicle.

[0023] Beneficially, the anti-sway mechanism includes an upper groove block 8 that is not fixedly installed on the upper part of the lifting frame 7. One end of the anti-sway frame 9 is hinged to the upper groove block 8. The anti-sway frames 9 are supported and connected by a first connecting rod 10. One end of the other side of the anti-sway frame 9 is hinged to one end of the anti-sway rotating rod 39. The anti-sway rotating rods 39 are supported and connected by a second connecting rod 40. Symmetrically and fixedly connected to the lower part of the lifting frame 7 are lower groove blocks 23. One end of a first electric push rod 12 is hinged to the lower groove block 23. The other end of the first electric push rod 12 is hinged to a first groove block 11. The first groove block 11 is fixedly installed inside the anti-sway frame 9. Fixedly connected inside the anti-sway frame 9 is a third groove block 48. One end of a second electric push rod 22 is hinged to the third groove block 48. The other end of the second electric push rod 22 is hinged to a second groove block 46. The second groove block 46 is fixedly installed on the upper part of the anti-sway rotating rod 39. The other end of the anti-sway rotating rod 39 is hinged to an anti-sway groove block 49. The anti-sway groove block 49 is fixedly installed on a connecting frame 50. The connecting frame 50 is symmetrically and fixedly installed on anti-sway cylinders 34. Inside the anti-sway cylinders 34 is an anti-sway gear cavity 87. Rotatably connected between the end walls of the anti-sway gear cavity 87 is an anti-sway driving gear shaft 85. The anti-sway driving gear shaft 85 is connected to the power output shaft of an anti-sway motor 70 fixedly installed inside the anti-sway cylinder 34. Fixedly connected to the outer surface of the anti-sway driving gear shaft 85 is an anti-sway driving gear 69. The anti-sway driving gear 69 meshes with the upper part of an anti-sway annular rack 66. The anti-sway annular rack 66 is rotatably installed between the end walls of the anti-sway gear cavity 87. The lower part of the anti-sway annular rack 66 meshes with a number of anti-sway driven gears 84. The anti-sway driven gears 84 are fixedly installed on the outer surface of an anti-sway lead screw 67. The anti-sway lead screw 67 is rotatably installed on the end wall of the anti-sway gear cavity 87. Threadedly connected to the outer surface of the anti-sway lead screw 67 is an anti-sway threaded barrel 86. The anti-sway threaded barrel 86 is slidably installed through the end wall of the anti-sway gear cavity 87 and extends to the inside of the anti-sway cylinder 34. Fixedly connected to the end of the anti-sway threaded barrel 86 is an anti-sway clamping plate 77. A connecting column 88 is clamped and connected between the anti-sway clamping plates 77; During operation, first start the anti-sway motor 70, which drives the rotation of the anti-sway driving gear shaft 85, thereby driving the rotation of the anti-sway driving gear 69. The anti-sway driving gear 69 meshes with the anti-sway annular rack 66, thereby driving the rotation of the anti-sway annular rack 66. The anti-sway annular rack 66 meshes with the anti-sway driven gear 84, thereby driving the rotation of the anti-sway lead screw 67. The anti-sway lead screw 67 is threadedly connected to the anti-sway threaded cylinder 86, thereby pushing the anti-sway clamping plate 77 to move and clamp the connecting column 88 to prevent the connecting column 88 from shaking during lifting. During lifting, the lifting frame 7 rotates, thereby driving the movement of the upper groove block 8, thereby driving the movement of the anti-sway frame 9. The first connecting rod 10 increases the stability between the anti-sway frames 9. Energize the first electric push rod 12, thereby pushing the anti-sway frame 9 to rotate, and the first electric push rod 12 restricts the oscillation in the horizontal left and right directions. The upper groove block 8 and the anti-sway frame 9 are joined to restrict the oscillation in the front and back directions. Energize the second electric push rod 22 to make the second electric push rod 22 move, thereby driving the rotation of the anti-sway rotating rod 39, thereby driving the movement of the anti-sway groove block 49, thereby driving the movement of the connecting frame 50, thereby driving the movement of the anti-sway cylinder 34, thereby driving the movement of the anti-sway clamping plate 77, thereby driving the movement of the connecting column 88, so that the connecting column 88 and the vertical telescopic tube 35 are always in the vertical direction. The second electric push rod 22 restricts the up and down oscillation in the vertical direction.

[0024] Beneficially, the retracting and extending mechanism includes fixing plates 17 symmetrically and fixedly installed on the direction adjusting table 3. A retracting and extending gear cavity 81 is provided in the fixing plate 17. A driving shaft 56 is rotatably connected between the end walls of the retracting and extending gear cavity 81 on one side. The driving shaft 56 is connected to the power output shaft of a retracting and extending motor 30 fixedly installed on the fixing plate 17. A driving gear 55 is fixedly connected to the outer surface of the driving shaft 56. A retracting and extending rotating shaft 57 is rotatably connected between the retracting and extending gear cavities 81. Symmetrically fixed connecting retracting and extending gears 51 are provided on the outer surface of the retracting and extending rotating shaft 57. One side of the retracting and extending gear 51 meshes with the driving gear 55, and the other side of the retracting and extending gear 51 meshes with a stop tooth 52. The stop tooth 52 is fixedly installed at the upper end of the stop electric push rod 53. The stop electric push rod 53 is fixedly installed on the bottom wall of the retracting and extending gear cavity 81 on the other side. A winch 54 is fixedly connected to the outer surface of the retracting and extending rotating shaft 57 between the fixing plates 17. A cable 20 is wound and connected to the outer surface of the winch 54. The end of the cable 20 is fixedly connected to the connecting column 88; During operation, the retracting and deploying motor 30 is started, thereby driving the drive shaft 56 to rotate, thereby driving the drive gear 55 to rotate. The drive gear 55 meshes with the retracting and deploying gear 51, thereby driving the retracting and deploying rotating shaft 57 to rotate, thereby driving the winch 54 to rotate, thereby causing the cable 20 to loosen, thereby driving the mounting frame 28 to move downward, thereby driving the mining vehicle 31 to move downward into the water. When the mining vehicle 31 is released into the water below, the stop electric push rod 53 is moved, thereby pushing the stop tooth 52 to mesh with the retracting and deploying gear 51, thereby performing braking to prevent further descent.

[0025] Beneficially, the adjusting mechanism includes an adjusting frame 68 detachably connected to the lower part of the connecting column 88. An adjusting gear cavity 82 is provided in the adjusting frame 68. An adjusting driving gear shaft 83 is rotatably connected between the end walls of the adjusting gear cavity 82. The adjusting driving gear shaft 83 is connected to the power output shaft of an adjusting motor 74 fixedly installed in the adjusting frame 68. An adjusting driving gear 73 is fixedly connected to the outer surface of the adjusting driving gear shaft 83. The adjusting driving gear 73 meshes with an adjusting driven gear 71. The adjusting driven gear 71 is fixedly installed on the outer surface of an adjusting driven gear shaft 72. The adjusting driven gear shaft 72 is rotatably installed between the end walls of the adjusting gear cavity 82. The adjusting driven gear shaft 72 extends to the lower part of the adjusting frame 68. A mounting frame 28 is fixedly connected to the lower end of the adjusting driven gear shaft 72. The mounting frame 28 is rotatably connected to the adjusting frame 68 and is connected with a stabilizing ring. An annular frame 32 is rotatably connected to the outer surface of the adjusting frame 68. A plurality of electric telescopic plates 33 are fixedly connected to the end wall of the annular frame 32. The end of the electric telescopic plate 33 far from the annular frame 32 is fixedly connected with a stabilizing hanging claw 29. The stabilizing hanging claw 29 is hooked and clamped at the four corner positions of the mounting frame 28; During operation, when the mining vehicle 31 is lifted to a position close to the sea surface, the adjusting motor 74 is started, thereby driving the adjusting driving gear shaft 83 to rotate, thereby driving the adjusting driving gear 73 to rotate. The adjusting driving gear 73 meshes with the adjusting driven gear 71, thereby driving the adjusting driven gear shaft 72 to rotate, thereby driving the mounting frame 28 to rotate. When the mounting frame 28 rotates, it drives the annular frame 32 to rotate, thereby driving the electric telescopic plate 33 to rotate, thereby driving the stabilizing hanging claw 29 to rotate. The stabilizing hanging claw 29 and the electric telescopic plate 33 tighten the mounting frame 28, increasing the stability of the rotation of the mounting frame 28 and preventing oscillation during the rotation process.

[0026] Beneficially, the lifting mechanism includes an electric cylinder connecting frame 4 symmetrically and fixedly connected to the upper part of the direction adjusting table 3. The electric cylinder connecting frame 4 is hinged to one end of the side of an electric cylinder 5, and the other end of the electric cylinder 5 is hinged to a pushing groove block 6. The pushing groove block 6 is fixedly installed on a lifting frame 7. The lifting frame 7 is hinged to a lifting frame connecting plate 14, and the lifting frame connecting plate 14 is symmetrically and fixedly installed on the direction adjusting table 3. A fixed disk 21 is fixedly installed on the lifting frame 7, and a wire winding groove 26 is formed on the fixed disk 21. The cable 20 bypasses inside the wire winding groove 26, and a limiting slide rod 24 for preventing the cable 20 from detaching is fixedly connected between the end walls of the wire winding groove 26; During operation, the electric cylinder 5 is powered on, so that the electric cylinder 5 extends, thereby pushing the pushing groove block 6 to move, thereby pushing the lifting frame 7 to rotate and rotate towards the sea surface position, so as to drive the mining vehicle 31 to lift.

[0027] Beneficially, the first cable anti-sway mechanism includes first sliding plates 16 symmetrically and slidably connected to the outside of a winch 54. A fixed rod 15 is fixedly connected between the first sliding plates 16. One end of the side of a telescopic tube 13 is fixedly connected to the fixed rod 15. The telescopic tube 13 is telescopic. The cable 20 passes through the inside of the telescopic tube 13. The other end of the side of the telescopic tube 13 is symmetrically and fixedly connected to first connecting slide rods 25. The first connecting slide rods 25 are slidably connected between the end walls of an annular groove 80. The annular groove 80 is symmetrically machined on the end walls of the wire winding groove 26; During operation, when the lifting frame 7 moves, it reaches the movement of the fixed disk 21, thereby driving the first connecting slide rods 25 to move, so that the telescopic tube 13 extends. The cable 20 passes through the telescopic tube 13 to prevent the cable 20 from moving around and causing vibration.

[0028] Beneficially, a second connecting slide rod 61 is slidably connected between the end walls of the annular groove 80 of the second cable anti-sway mechanism. A fixed connection is provided between the second connecting slide rods 61 and the end of one side of a vertical telescopic tube 35. The cable 20 passes through the vertical telescopic tube 35. A limiting sleeve 37 is detachably connected to the outer surface of the vertical telescopic tube 35. The end of one side of a mounting rod 36 is symmetrically and fixedly connected to the limiting sleeve 37. The end of the other side of the mounting rod 36 is fixedly connected to a second sliding plate 38. The second sliding plate 38 is symmetrically slidably connected to the outside of the fixed disk 21. The vertical telescopic tube 35 is telescopic. The lower end of the vertical telescopic tube 35 is fixedly connected to the upper part of the connecting column 88. A clamping chute 62 is provided on the connecting frame 50. A clamping electric screw rod 63 is rotatably connected between the end walls of the clamping chute 62. A clamping nut block 60 is threadedly connected to the outer surface of the clamping electric screw rod 63. The clamping nut block 60 is slidably connected between the end walls of the clamping chute 62. The upper part of the clamping nut block 60 is fixedly connected to the end of one side of a clamping frame 58. The end of the other side of the clamping frame 58 is fixedly connected to a clamping plate 59. The clamping plate 59 clamps and stabilizes the lower end of the vertical telescopic tube 35; During operation, when the fixed disk 21 moves, it drives the second connecting slide rod 61 to slide in the annular groove 80, thereby driving the vertical telescopic tube 35 to move. The limiting sleeve 37 and the second sliding plate 38 increase the stability of the vertical telescopic tube 35 and stabilize the upper part of the vertical telescopic tube 35. Power is supplied to the clamping electric screw rod 63, causing the clamping electric screw rod 63 to rotate, thereby driving the clamping nut block 60 to move, thereby driving the clamping frame 58 to move, and thereby driving the clamping plate 59 to move to clamp the lower part of the vertical telescopic tube 35, increasing the stability of the lower part of the vertical telescopic tube 35. The cable 20 passes through the vertical telescopic tube 35 to prevent the cable 20 from moving around and restricts the cable 20.

[0029] Beneficially, the direction adjustment mechanism includes a direction adjustment gear cavity 79 provided inside the scientific research ship 1. A direction adjustment gear shaft 18 is rotatably connected between the end walls of the direction adjustment gear cavity 79. The direction adjustment gear shaft 18 is connected to the power output shaft of a direction adjustment motor 45 fixedly installed inside the scientific research ship 1. A direction adjustment gear 44 is fixedly connected to the outer surface of the direction adjustment gear shaft 18. The direction adjustment gear 44 meshes with a direction adjustment annular rack 47. The direction adjustment annular rack 47 is rotatably installed on the scientific research ship 1. The upper part of the direction adjustment annular rack 47 is fixedly connected to the rotating table 43. The rotating table 43 is rotatably connected to the scientific research ship 1. The upper part of the rotating table 43 is fixedly connected to the direction adjustment table 3; During operation, the direction adjustment motor 45 is started, which drives the rotation of the direction adjustment gear shaft 18, thereby driving the rotation of the direction adjustment gear 44. The direction adjustment gear 44 meshes with the direction adjustment annular rack 47, thereby driving the rotation of the direction adjustment annular rack 47, which drives the rotation of the turntable 43, and thus drives the rotation of the direction adjustment table 3.

[0030] Beneficially, the mounting mechanism includes a plurality of mounting chutes provided at the lower part of the mounting frame 28. A mounting electric screw rod 76 is rotatably connected in the mounting chute. A mounting nut plate 75 is threadedly connected to the outer surface of the mounting electric screw rod 76. The mounting nut plate 75 is slidably connected between the end walls of the mounting chute. The end of the mounting nut plate 75 is fixedly connected to a clamping plate 41. A mounting plate 42 is fixedly connected to the lower part of the clamping plate 41. A mining vehicle 31 is mounted on the mounting plate 42. An electromagnet 64 is fixedly connected to the lower part of the mounting frame 28. The electromagnet 64 adsorbs an adsorption disc 65. The adsorption disc 65 is fixedly pressed on the upper part of the mining vehicle 31. The clamping plate 41 can be telescopically adjusted; During operation, when the mining vehicle 31 reaches the sea water, the mounting electric screw rod 76 is rotated, which pushes the mounting nut plate 75 to move outwards, thereby driving the movement of the clamping plate 41, which drives the movement of the mounting plate 42, so that the lower part of the mining vehicle 31 moves out. After moving out, the electromagnet 64 loses power, so that the adsorption disc 65 is no longer adsorbed, thereby releasing the mining vehicle 31 and enabling the mining vehicle 31 to enter the water.

[0031] Beneficially, a storage battery 2 is fixedly connected to the scientific research ship 1. A plurality of power transmission lines 19 are connected to the storage battery 2. The ends of the power transmission lines 19 are connected to the electrical components in the device. The storage battery 2 supplies power to the electrical components in the device. A control panel is provided on the scientific research ship 1. A control processor is provided in the control panel. A corresponding control program is provided in the control processor. The control processor is in signal connection with the electrical components in the device; During operation, corresponding instructions are input on the control panel. After being processed by the control processor, signals are sent to the corresponding electrical components to make the corresponding electrical components move.

[0032] The present invention provides a method for retracting, releasing and damping a polymetallic sulfide mining vehicle based on a scientific research ship. Based on the above-mentioned mining vehicle retracting, releasing and damping device based on a scientific research ship, the steps include: Step 1: Mount the mining vehicle 31 through the mounting mechanism and mount it under the mounting frame 28; Step 2: After the mounting is completed, the direction adjustment mechanism moves, thereby driving the rotation of the direction adjustment table 3 to rotate to the corresponding direction; Step 3: After rotating to the corresponding direction, the lifting mechanism moves, thereby driving the lifting frame 7 to move, and then driving the mining vehicle 31 to lift and lower; Step 4: The retracting and deploying mechanism moves, thereby driving the cable 20 to move, then driving the mounting frame 28 to move, and then driving the mining vehicle 31 to move into the water; Step 5: When lifting and lowering and retracting and deploying the mining vehicle 31, the anti-sway mechanism moves to perform anti-sway to prevent the generation of oscillations that may cause instability of the whole; Step 6: When the retracting and deploying mechanism moves, the first cable anti-sway mechanism and the second cable anti-sway mechanism move to prevent the cables from oscillating during the movement.

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

[0034] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mining vehicle retractable and anti-swaying device based on a scientific research vessel, characterized in that: The invention comprises a scientific research vessel (1), wherein the scientific research vessel (1) is connected to a direction adjustment platform (3) via a direction adjustment mechanism, wherein the direction adjustment mechanism is used to adjust the direction of the direction adjustment platform (3) so as to facilitate the folding and unfolding of a mining vehicle in different directions, wherein the direction adjustment platform (3) is connected to a lifting mechanism, wherein the lifting mechanism is used to lift and lower the mining vehicle when folding and unfolding, wherein the direction adjustment platform (3) is connected to a folding and unfolding mechanism, wherein the folding and unfolding mechanism is used to fold and unfold the mining vehicle, wherein a first cable anti-swing mechanism and a second cable anti-swing mechanism are sequentially connected to the folding and unfolding mechanism, wherein the first cable anti-swing mechanism and the second cable anti-swing mechanism are used to prevent the cable from swaying, wherein the lifting mechanism is connected to a anti-swing mechanism, wherein the anti-swing mechanism is used to prevent the mining vehicle from swaying when folding and unfolding, wherein an adjustment mechanism is connected to the end of the folding and unfolding mechanism, wherein the adjustment mechanism is used to adjust the head direction of the mining vehicle when folding and unfolding so as to facilitate folding and unfolding, wherein the adjustment mechanism is connected to a mounting mechanism, wherein the mounting mechanism is used to mount the mining vehicle.

2. The device for preventing swaying when retracting and deploying a mining vehicle based on a scientific research vessel according to claim 1, characterized in that: The anti-swing mechanism comprises an upper groove block (8) which is not fixedly mounted on the upper part of the lifting frame (7), one end of an anti-swing frame (9) is hinged on the upper groove block (8), the anti-swing frames (9) are supported and connected by a first connecting rod (10), the other end of the anti-swing frame (9) is hinged to one end of an anti-swing rotating rod (39), the anti-swing rotating rods (39) are supported and connected by a second connecting rod (40), the lower part of the lifting frame (7) is fixedly and symmetrically connected to a lower groove block (23), one end of a first electric push rod (12) is hinged on the lower groove block (23), the other end of the first electric push rod (12) is hinged to the lower groove block (23), The first groove block (11) is hinged, and the first groove block (11) is fixedly installed on the inner side of the anti-swing frame (9). The anti-swing frame (9) is fixedly connected with a third groove block (48). The third groove block (48) is hinged with one end of the second electric push rod (22). The other end of the second electric push rod (22) is hinged with the second groove block (46). The second groove block (46) is fixedly installed on the upper part of the anti-swing rotation rod (39). The other end of the anti-swing rotation rod (39) is hinged with the anti-swing groove block (49). The anti-swing groove block (49) is fixedly installed on the connecting frame (50). The connecting frame (50) is symmetrically fixed. The anti-swing cylinder (34) is fixedly mounted, and an anti-swing gear chamber (87) is provided in the anti-swing cylinder (34). An anti-swing driving gear shaft (85) is rotatably connected between the end walls of the anti-swing gear chamber (87). The anti-swing driving gear shaft (85) is connected to a power output shaft of an anti-swing motor (70) fixedly mounted in the anti-swing cylinder (34). An anti-swing driving gear (69) is fixedly connected to the outer surface of the anti-swing driving gear shaft (85). The anti-swing driving gear (69) is meshed with the upper part of the anti-swing annular rack (66). The anti-swing annular rack (66) is rotatably mounted between the end walls of the anti-swing gear chamber (87). The anti-swing annular rack (66) is fixedly mounted on the outer surface of the anti-swing driving gear shaft (85). The part is meshed with a plurality of anti-swing driven gears (84), the anti-swing driven gears (84) are fixedly mounted on the outer surface of the anti-swing screw (67), the anti-swing screw (67) is rotatably mounted on the end wall of the anti-swing gear cavity (87), the outer surface of the anti-swing screw (67) is threadedly connected with a anti-swing threaded cylinder (86), the anti-swing threaded cylinder (86) is slidably mounted on the end wall of the anti-swing gear cavity (87), and the anti-swing threaded cylinder (86) extends to the inner side of the anti-swing cylinder (34), the end of the anti-swing threaded cylinder (86) is fixedly connected with an anti-swing clamping plate (77), and a connecting column (88) is clamped and clamped between the anti-swing clamping plates (77).

3. The device for preventing swaying when deploying and retracting a mining vehicle based on a scientific research vessel according to claim 2, characterized in that: The retractable mechanism comprises a fixing plate (17) symmetrically fixedly mounted on the direction adjustment platform (3), a retractable gear chamber (81) being arranged in the fixing plate (17), a drive shaft (56) being rotatably connected between the end walls of the retractable gear chamber (81) on one side, the drive shaft (56) being connected to a power output shaft of a retractable motor (30) fixedly mounted on the fixing plate (17), a drive gear (55) being fixedly connected to the outer surface of the drive shaft (56), a retractable rotating shaft (57) being rotatably connected between the retractable gear chambers (81), and a retractable gear chamber (81) being symmetrically fixedly connected to the outer surface of the retractable rotating shaft (57) (51), the retractable gear (51) on one side is meshed with the driving gear (55), and the retractable gear (51) on the other side is meshed with the stopping tooth (52), and the stopping tooth (52) is fixedly installed on the upper end of the stopping electric push rod (53), and the stopping electric push rod (53) is fixedly installed on the bottom wall of the retractable gear cavity (81) on the other side, and the outer surface of the retractable shaft (57) between the fixing plates (17) is fixedly connected to a winch (54), and the outer surface of the winch (54) is wound with a cable (20), and the end of the cable (20) is fixedly connected to the connecting column (88).

4. The mining vehicle retracting and releasing anti-swaying device based on a scientific research vessel according to claim 3, characterized in that: The adjustment mechanism comprises an adjustment frame (68) detachably connected to the lower part of the connection column (88); an adjustment gear chamber (82) is provided in the adjustment frame (68); an adjustment driving gear shaft (83) is rotatably connected between the end walls of the adjustment gear chamber (82); the adjustment driving gear shaft (83) is connected to a power output shaft of an adjustment motor (74) fixedly installed in the adjustment frame (68); an adjustment driving gear (73) is fixedly connected to the outer surface of the adjustment driving gear shaft (83); the adjustment driving gear (73) is meshed with an adjustment driven gear (71); the adjustment driven gear (71) is fixedly installed on the outer surface of the adjustment driven gear shaft (72); the adjustment driven gear shaft (72) The adjusting gear chamber (82) is rotatably mounted between the end walls, the adjusting driven gear shaft (72) extends to the lower part of the adjusting frame (68), the lower end of the adjusting driven gear shaft (72) is fixedly connected to a mounting frame (28), the mounting frame (28) and the adjusting frame (68) are rotatably connected and connected to a stabilizing ring, the outer surface of the adjusting frame (68) is rotatably connected to an annular frame (32), the end wall of the annular frame (32) is fixedly connected to a plurality of electric telescopic plates (33), the end of the electric telescopic plate (33) away from the annular frame (32) is fixedly connected to a stabilizing claw (29), and the stabilizing claw (29) is mounted and clamped at the four corners of the mounting frame (28).

5. The mining vehicle retracting and extending anti-swaying device based on a scientific research vessel according to claim 4, characterized in that: The lifting mechanism comprises an electric cylinder connecting frame (4) symmetrically fixedly connected to the upper part of the direction adjustment platform (3), the electric cylinder connecting frame (4) is hinged with one end of the electric cylinder (5), the other end of the electric cylinder (5) is hinged with a pushing groove block (6), the pushing groove block (6) is fixedly installed on the lifting frame (7), the lifting frame (7) is hinged on the lifting frame connecting plate (14), the lifting frame connecting plate (14) is symmetrically fixedly installed on the direction adjustment platform (3), a fixed disk (21) is fixedly installed on the lifting frame (7), a winding groove (26) is provided on the fixed disk (21), the cable (20) is passed around the winding groove (26), and a limiting slide bar (24) is fixedly connected between the end walls of the winding groove (26) to prevent the cable (20) from escaping.

6. The device for preventing swaying when deploying and retracting a mining vehicle based on a scientific research vessel according to claim 5, characterized in that: The first cable anti-sway mechanism comprises a first slide plate (16) symmetrically slidably connected to the outside of the winch (54), a fixed rod (15) is fixedly connected between the first slide plates (16), one end of a telescopic tube (13) is fixedly connected to the fixed rod (15), the telescopic tube (13) is retractable, the cable (20) passes through the inside of the telescopic tube (13), and the other end of the telescopic tube (13) is symmetrically fixedly connected to a first connecting slide bar (25), the first connecting slide bar (25) is slidably connected between the end walls of the annular groove (80), and the annular groove (80) is symmetrically processed on the end wall of the winding groove (26).

7. The device for preventing swaying when deploying and retracting a mining vehicle based on a scientific research vessel according to claim 6, characterized in that: A second connecting slide bar (61) is slidably connected between the end walls of the annular groove (80) of the second cable anti-sway mechanism, and one end of a vertical telescopic tube (35) is fixedly connected between the second connecting slide bars (61). The cable (20) passes through the vertical telescopic tube (35), and a limiting sleeve (37) is detachably connected to the outer surface of the vertical telescopic tube (35). One end of a mounting rod (36) is symmetrically fixedly connected to the limiting sleeve (37), and the other end of the mounting rod (36) is fixedly connected to a second slide plate (38). The second slide plate (38) is symmetrically slidably connected to the outer side of the fixed plate (21). The vertical telescopic tube (35) is retractable. The lower end of the telescopic tube (35) is fixedly connected to the upper part of the connecting column (88), and a clamping groove (62) is provided on the connecting frame (50). A clamping electric screw (63) is rotatably connected between the end walls of the clamping groove (62). The outer surface of the clamping electric screw (63) is threadedly connected to a clamping nut block (60). The clamping nut block (60) is slidably connected between the end walls of the clamping groove (62). The upper part of the clamping nut block (60) is fixedly connected to one end of a clamping frame (58), and the other end of the clamping frame (58) is fixedly connected to a clamping plate (59). The clamping plate (59) clamps and stabilizes the lower end of the vertical telescopic tube (35).

8. The mining vehicle retracting and releasing anti-swaying device based on a scientific research vessel according to claim 7, characterized in that: The direction adjustment mechanism comprises a direction adjustment gear chamber (79) arranged in the research vessel (1); a direction adjustment gear shaft (18) is rotatably connected between the end walls of the direction adjustment gear chamber (79); the direction adjustment gear shaft (18) is connected to a power output shaft of a direction adjustment motor (45) fixedly installed in the research vessel (1); a direction adjustment gear (44) is fixedly connected to the outer surface of the direction adjustment gear shaft (18); the direction adjustment gear (44) is meshed with a direction adjustment annular rack (47); the direction adjustment annular rack (47) is rotatably installed on the research vessel (1); the upper part of the direction adjustment annular rack (47) is fixedly connected to the rotating platform (43); the rotating platform (43) is rotatably connected to the research vessel (1); the upper part of the rotating platform (43) is fixedly connected to the direction adjustment platform (3).

9. The mining vehicle retracting and releasing anti-swaying device based on a scientific research vessel according to claim 8, characterized in that: The mounting mechanism comprises a plurality of mounting slots provided at the lower part of the mounting frame (28), wherein a mounting electric screw (76) is rotatably connected in the mounting slot, and a mounting nut plate (75) is threadedly connected to the outer surface of the mounting electric screw (76), and the mounting nut plate (75) is slidably connected between the end walls of the mounting slot, and a clamping plate (41) is fixedly connected to the end of the mounting nut plate (75), and a mounting plate (42) is fixedly connected to the lower part of the clamping plate (41), and a mining vehicle (31) is mounted on the mounting plate (42), and an electromagnet (64) is fixedly connected to the lower part of the mounting frame (28), and the electromagnet (64) adsorbs the adsorption plate (65), and the adsorption plate (65) is fixedly pressed on the upper part of the mining vehicle (31), and the clamping plate (41) is telescopically adjustable.

10. A method for folding and releasing a polymetallic sulfide mining vehicle based on a scientific research vessel, based on the mining vehicle folding and releasing and swaying prevention device based on a scientific research vessel as claimed in claim 9, characterized in that: step include: Step 1: Mounting the mining vehicle (31) on the lower side of the mounting frame (28) through a mounting mechanism; Step 2: After the mounting is completed, the direction adjustment mechanism moves, thereby driving the direction adjustment platform (3) to rotate to the corresponding direction; Step 3: After rotating to the corresponding direction, the lifting mechanism moves, thereby driving the lifting frame (7) to move, thereby driving the mining vehicle (31) to move up and down; Step 4: The retracting and releasing mechanism moves, thereby driving the cable (20) to move, thereby driving the mounting frame (28) to move, thereby driving the mining vehicle (31) to move and put into the water; Step 5: When the mining vehicle (31) is raised, lowered, retracted, or deployed, the anti-sway mechanism moves to prevent swaying and prevent overall instability caused by vibrations; Step 6: When the retracting and releasing mechanism moves, the first cable anti-swing mechanism and the second cable anti-swing mechanism move to prevent the cables from vibrating during the movement.

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