Seabed tabular cobalt-rich crust mining robot

Abstract

The invention provides a submarine tabular cobalt-rich crust mining robot. The submarine tabular cobalt-rich crust mining robot comprises a self-walking platform, a first multi-axis movement mechanism, a second multi-axis movement mechanism and a tool bit. Wherein a first multi-axis movement mechanism, a second multi-axis movement mechanism and a tool bit are sequentially mounted on the self-walking platform. The second multi-axis movement mechanism is provided with a base, a rotary disc, a space connecting rod and a tool bit mounting seat; each rotary disk is connected with a power unit; and the other end of the space connecting rod is hinged with the plane of the tool bit mounting seat. According to the invention, the structure is simple, the cost is low, the position and posture change of the tool bit is realized through the combination of a plurality of multi-axis movement mechanisms, and through the multi-axis mechanism formed by the rotary disk and the space connecting rod, the flexibility of the tool bit can be increased so as to be applied to more types of acquisition areas, and meanwhile, the complexity of the structure can be obviously reduced; the second multi-axis movement mechanism drives multi-axis movement in a rotary mode, so that the device can better adapt to the seabed high-pressure environment, and extra sealing and compression resistance design is not needed.

Description

Technical Field

[0001] The present invention belongs to the technical field of marine resource development, and particularly relates to a seabed plate-shaped cobalt-rich crust mining robot. Background Art

[0002] The strategic position of marine mineral resources is significant. Among them, the distributed metal minerals are widely used in fields such as military industry, aerospace, petrochemical industry, glass manufacturing, and medical treatment. Especially, cobalt, for example, can be used as a superior and stable cathode material for lithium batteries in new energy batteries, and its importance is self-evident.

[0003] However, in the process of exploiting marine mineral resources in China, cobalt ore is still a scarce resource at present, and most of it depends on imports. The main reason is that the mineral extraction is difficult. The plate-shaped cobalt-rich crusts are distributed on the bedrock surface, but the bedrock is rough and has a large area. At present, it is very difficult for the mining equipment to travel stably, and the execution end cannot flexibly change its posture, resulting in problems such as low mining efficiency and high mining cost.

[0004] At present, there are generally two forms of undersea mineral enrichment. One is mechanical enrichment, that is, using robotic arms to pick up, etc.; the other is using flushing enrichment. Among them, mechanical enrichment has the problem of low efficiency, and flushing enrichment, that is, using sprayed water flow for enrichment, has the problem of high energy consumption.

[0005] In the prior art, there are relatively few mining robots in the field of undersea mineral exploitation at home and abroad. Especially, there are a large number of blanks in the field of cobalt-rich crust mining. The following are two common undersea mineral mining robots on the market: 1. The Seafloor Production Tools developed by Nautilus Minerals has certain performance advantages, so it occupies a certain position in the market. This type of robot uses simulation design technology, enabling its drill bit to quickly break the ores widely existing on the seabed, so it has been applied in the field of polymetallic nodule mining. In addition, they are equipped with a diversified sensor system, which can detect and identify polymetallic nodules, thus improving the mining operation efficiency.

[0006] 2. Nautilus's Seafloor Production Tools has attracted attention due to its high reliability and durability, and can continuously operate in extremely harsh undersea environments for a period of time to perform some tasks.

[0007] However, despite the excellent performance of the above mining equipment, there are still certain limitations when facing complex terrains. Especially when mining cobalt-rich crusts in plate form, since these resources are often distributed in areas with relatively large slopes, the mining efficiency is restricted to a certain extent. That is, for complex seabed scenarios, there is no relatively flexible execution end in the current existing technologies, and the posture of the mining part cannot be efficiently changed, resulting in the inability to obtain easily mined crusts and affecting the improvement of system efficiency. At the same time, due to the need for the collaborative operation of many auxiliary devices, the energy consumption of the entire mining system is also relatively high.

[0008] In summary, there is still a need to develop a mining robot for seabed cobalt-rich crusts, especially for seabed complex topographies and scenarios with high mining difficulty, in order to achieve efficient and low-cost collection operations. Summary of the Invention

[0009] In view of the problems existing in the prior art, the present invention provides a seabed plate-shaped cobalt-rich crust mining robot to solve the above problems.

[0010] To achieve the above object, the technical solution adopted by the present invention is as follows: The present invention provides a seabed plate-shaped cobalt-rich crust mining robot, including a self-propelled platform, a first multi-axis motion mechanism, a second multi-axis motion mechanism, and a cutter head; The first multi-axis motion mechanism is installed on the self-propelled platform; the movable end of the first multi-axis motion mechanism is installed with a second multi-axis motion mechanism; the movable end of the second multi-axis motion mechanism is installed with the cutter head; The second multi-axis motion mechanism is provided with a base, a rotary disk, a spatial link, and a cutter head mounting seat; The base is fixedly connected to the movable end of the first multi-axis motion mechanism; There are multiple rotary disks, which are coaxially arranged; the rotary disk is rotationally connected to the base, and each rotary disk is connected to an independent rotary disk power unit for driving the rotary disk to rotate; There are multiple spatial links, which correspond to the rotary disks one by one; one end of the spatial link is hinged to the plane of the corresponding rotary disk, and the other end is hinged to the plane of the cutter head mounting seat; The cutter head mounting seat is connected to the cutter head.

[0011] Furthermore, each rotary disk is provided with a central hole, and a hollow shaft with the same inner diameter is fixedly connected at the central hole; the inner diameter of the central hole of the rotary disk and the length of the hollow shaft are different; The end of each hollow shaft is coaxially fixedly connected with a rotary disk follower; The multiple rotary disks form a stacked coaxial nested structure, and each rotary disk is connected to the rotary disk power unit through a transmission component.

[0012] Furthermore, a plurality of rotary disk power units are circumferentially arranged on the base, and a rotary disk driving member is installed on the output shaft of each rotary disk power unit and is connected to a corresponding rotary disk driven member.

[0013] Furthermore, a vertical mounting shaft is provided on the base; The rotary disk is sleeved on the mounting shaft and is rotatably connected to the mounting shaft; A plurality of the rotary disk power units are further provided on the circumferential side of the mounting shaft, and dispersed stepped mounting bosses are correspondingly arranged; the rotary disk power units are correspondingly installed on the mounting bosses.

[0014] Further, a vertical single-sided bent connecting rod is provided on the side of each rotary disk; a plurality of downward protruding connecting convex edges are provided on the back of the tool head mounting seat; The spatial connecting rod is a double-sided bent connecting rod; One side of the spatial connecting rod close to the rotary disk is plane-hinged to the corresponding single-sided bent connecting rod, and the hinge axis forms an angle with the plane where the rotary disk is located; One side of the spatial connecting rod close to the tool head mounting seat is plane-hinged to the corresponding connecting convex edge, and the hinge axis is parallel to the plane where the back of the tool head mounting seat is located; A plurality of the spatial connecting rods are spirally distributed.

[0015] Further, the tool head includes an adaptive fitting floating mechanism and a tool; The fixed end of the adaptive fitting floating mechanism is installed at the movable end of the second multi-axis motion mechanism; At least one tool is installed at the movable end of the adaptive fitting floating mechanism.

[0016] Furthermore, the adaptive fitting floating mechanism includes a fixed support, an elastic member and a universal joint; The elastic member is arranged between the fixed support and the universal joint; The fixed support is slidably hinged to the universal joint and is provided with a circumferential limiting structure; The universal joint is fixedly connected to the tool.

[0017] Furthermore, the tool head further includes a tool head power unit; The output end of the tool head power unit is connected to the adaptive fitting floating mechanism through a transmission assembly for driving the tool to rotate; The tool is a grinding disk.

[0018] Further, the self-propelled platform is a swing-arm type crawler chassis.

[0019] Further, the first multi-axis motion mechanism is a multi-axis gantry.

[0020] Compared with the prior art, the present invention has the following beneficial effects: The present invention has a simple structure and low cost. It adopts a mechanical enrichment mining design for the cutter head, and realizes the position and attitude transformation of the cutter head through the combination of multiple multi-axis motion mechanisms. In particular, the multi-axis mechanism composed of a rotary disk and a spatial connecting rod can not only quickly realize the large-range movement and multi-angle inclination of the cutter head, increase the flexibility of the cutter head, so as to be applied to more types of collection areas, but also significantly reduce the complexity of the structure. Further, the second multi-axis motion mechanism drives the multi-axis motion in a rotary form, which can better adapt to the high-pressure environment under the sea without additional sealing and anti-pressure design. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 It is an overall three-dimensional view in a specific embodiment of the present invention; Figure 2 It is a three-dimensional view of the self-propelled platform in a specific embodiment of the present invention; Figure 3 It is a three-dimensional view of the first multi-axis motion mechanism in a specific embodiment of the present invention; Figure 4 It is a three-dimensional view of the installation position of the second multi-axis motion mechanism in a specific embodiment of the present invention; Figure 5 It is a three-dimensional view of the internal structure of the second multi-axis motion mechanism in a specific embodiment of the present invention; Figure 6 It is an exploded view of the second multi-axis motion mechanism in a specific embodiment of the present invention; Figure 7 It is a three-dimensional view of the internal structure of the cutter head in a specific embodiment of the present invention; Figure 8 It is a sectional view of the adaptive fitting floating mechanism in a specific embodiment of the present invention; Figure 9 It is an exploded view of the adaptive fitting floating mechanism in a specific embodiment of the present invention.

[0023] In the figure: 1. Self-propelled platform; 2. First multi-axis motion mechanism; 3. Second multi-axis motion mechanism; 4. Tool head; 101. Swing arm; 201. Horizontal electric drive screw rail; 202. Vertical electric drive screw rail; 203. First mounting table; 204. Second mounting table; 301. Base; 302. Steering gear; 303. Driving gear; 304. Rotary disk; 305. Spatial connecting rod; 306. Tool head mounting seat; 307. Rotary disk mounting round table; 401. Tool head motor; 402. Tool driving gear; 403. Adaptive fitting floating mechanism; 404. Tool; 3041. First rotary disk; 3042. Second rotary disk; 3043. Third rotary disk; 4031. Tool driven gear; 4032. Fixed support; 4033. Spring; 4034. Universal joint. Detailed implementation mode

[0024] To make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0025] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0026] In the description of the present invention, it should be understood that the relative relationships indicated by terms such as "upper", "lower", "back", "side", etc. are based on the contact sequence with the material in the rotation direction in actual application. For the convenience of describing the present invention and simplifying the description, it does not indicate or imply that the device or element referred to must have a specific position, and thus cannot be construed as a limitation of the present invention.

[0027] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0028] In the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] It should also be noted that the methods used in the present invention are all conventional methods unless otherwise specified; the raw materials and devices used are all conventional commercially available products unless otherwise specified.

[0030] This application provides a Figure 1 The seabed plate-like cobalt-rich crust mining robot shown mainly comprises a self-propelled platform 1 , a first multi-axis motion mechanism 2 , a second multi-axis motion mechanism 3 and a cutter head 4 .

[0031] Among them, this embodiment fully considers the complex topography of the seabed. In order to provide a strong stability for the system in actual work, Figure 2 As shown, the preferred self-propelled platform 1 is a swing-arm crawler chassis, specifically a four-swing-arm crawler chassis, which has multiple control motors built in to respectively control four swing arms 101, so that it can adapt to changes in terrain and provide higher grip, thereby ensuring the stability of the overall system during operation.

[0032] A first multi-axis motion mechanism 2 is installed on the self-propelled platform 1. Figure 3As shown, this embodiment preferably uses a multi-axis gantry, which is different from the design of a conventional cross-shaped gantry and is optimized for the characteristics of the submarine environment; specifically, the multi-axis gantry of this embodiment adopts a redundant design, and two independent horizontal electric-driven screw guide rails 201 are provided at the bottom mounting position, and the bottom surface thereof is fixedly connected to the mounting surface of the self-propelled platform 1 through an I-shaped base. A vertical electric-driven screw guide rail 202 is installed on the slider of each horizontal electric-driven screw guide rail 201. The two vertical electric-driven screw guide rails 202 are symmetrically arranged, and a crossbeam structure is installed on the sliders of the two guide rails. The crossbeam structure adopts four optical axes as the main body, and a first mounting platform 203 is slidably installed thereon. The first mounting platform 203 adopts a box structure, and linear bearings are installed at the four side edges, thereby forming a sliding connection structure with the aforementioned four optical axes. In order to realize the lateral controlled movement of the first mounting platform 203, in this embodiment, a servo motor is installed on each slider of the two vertical electric-driven screw slide rails 202, and a transmission belt is bridged, and then the first mounting platform 203 is directly or indirectly connected to the transmission belt, and the first mounting platform 203 can be driven to move laterally by the servo motor; further, in this embodiment, a specific connection relationship is described to illustrate the principle of lateral movement, and two left and right mounting grooves are processed on the lateral side of the first mounting platform 203, and the upper and lower mounting grooves are respectively used to pass the transmission belt, and a connecting clamp is fixed on the transmission belt, and then the connecting clamp is fixedly connected to the first mounting platform 203.

[0033] In the design of the above-mentioned first multi-axis motion mechanism 2, different from the common single-axis single-power design, this embodiment has adopted a single-axis multi-power design for the seabed environment, that is, a redundant design of multiple power units is adopted, the purpose of which is to provide double protection and sufficient power support for the high pressure and corrosive environment of the seabed, and at the same time, it can also provide a feasible escape plan for the jam or blockage caused by sand and gravel, that is, to perform a slight reciprocating motion from the unjammed or blocked side to promote the removal of the jammed or blocked objects.

[0034] The movable end of the first multi-axis motion mechanism 2 is installed with a second multi-axis motion mechanism 3; specifically, in this embodiment, Figure 4 As shown, in order to adapt to the collection direction, a second mounting platform 204 is also designed separately in the first multi-axis motion mechanism 2, and its function is to change the collection direction of the second multi-axis motion mechanism 3 at a large angle, thereby reducing the angle adjustment requirements of the second multi-axis motion mechanism 3. Among them, the second mounting platform 204 adopts a beveled cylindrical structure, the flat bottom surface is fixedly connected to the front end surface of the first mounting platform 203, and the beveled surface is used to fix the second multi-axis motion mechanism 3.

[0035] Combination Figure 1 , Figures 4 - 6 As shown, the second multi-axis motion mechanism 3 is mainly provided with a base 301 , a rotating disk 304 , a spatial connecting rod 305 and a tool head mounting seat 306 .

[0036] Among them, the base 301 of this embodiment adopts a disc structure, and the bottom back surface is fixedly connected to the second mounting table 204, so as to realize the fixed connection between the base 301 and the movable end of the first multi-axis motion mechanism 2. A rotary disk mounting round table 307 is arranged in the middle of the front surface of the base 301, and a vertical mounting shaft is arranged at the axis position for mounting the rotary disk 304. There are multiple rotary disks 304 in total. In this embodiment, three rotary disks 304 are specifically described. The three rotary disks 304 are coaxially arranged and are rotationally connected to the base 301 by sleeving the mounting shaft, and each rotary disk 304 is connected to an independent rotary disk power unit for driving the rotary disk to rotate; further, each rotary disk 304 is provided with a central hole, and a hollow shaft with the same inner diameter is fixedly connected at the central hole, and the end of each hollow shaft is coaxially fixedly connected with a rotary disk driven member. Among them, the inner diameters of the central holes and the lengths of the hollow shafts of the three rotary disk structures are different. Specifically, in order to realize a stacked coaxial nested structure composed of multiple rotary disks, the rotary disk 304 of this embodiment is further divided into a first rotary disk 3041, a second rotary disk 3042, and a third rotary disk 3043, and the inner diameter of the central hole of the first rotary disk 3041 is designed to be equal to the outer diameter of the mounting shaft, so as to realize its rotational connection with the mounting shaft; the inner diameter of the central hole of the second rotary disk 3042 is equal to the outer diameter of the hollow shaft of the first rotary disk 3041, so as to realize its rotational connection with the hollow shaft of the first rotary disk 3041; similarly, the inner diameter of the central hole of the third rotary disk 3043 is equal to the outer diameter of the hollow shaft of the second rotary disk 3042, so as to realize its rotational connection with the hollow shaft of the second rotary disk 3042. Furthermore, the rotary disk driven members of the three rotary disks in this embodiment are all driven gears, and it is ensured that the inner diameters of the central holes of the gears are consistent with the inner diameters of the corresponding hollow shafts (the modules and numbers of teeth of the three driven gears are the same), and each rotary disk is connected to the rotary disk power unit through a transmission component. The above solves the problem of coaxial rotation between the rotary disks, and the problem of stacked nesting also needs to be solved; thus, in order to realize a stacked coaxial nested structure composed of multiple rotary disks, in this embodiment, the length of the hollow shaft of the first rotary disk 3041 is designed to be equal to the overall height of the second rotary disk 3042; the length of the hollow shaft of the second rotary disk 3042 is equal to the overall height of the third rotary disk 3043.

[0037] In order to achieve the separate drive of the rotary disk 304, an independent rotary disk power unit is selected. In this embodiment, a servo motor 302 is taken as an example for illustration: Three servo motors 302 are circumferentially arranged on the base 301, and a rotary disk driving member, that is, a driving gear 303, is installed on the output shaft of each servo motor 302 and meshes with the corresponding driven gear. Among them, since the heights of the three driven gears are different, 2 stepped mounting bosses are also dispersedly arranged on the circumferential side of the rotary disk mounting round table 307 to be used for raising the servo motors 302 of the same specification. Thus, one servo motor 302 is directly installed on the base 301, and the other two servo motors 302 are respectively installed on the corresponding mounting bosses to achieve the meshing of the gear set.

[0038] Optionally, in order to reduce the transmission resistance, a thrust bearing is also installed on the rotary disk mounting round table 307, thereby reducing the frictional resistance during rotation.

[0039] Correspondingly, there are three space linkages 305 in this embodiment, which correspond to the rotary disks 304 one by one. One end of the space linkage 305 is hinged to the plane of the corresponding rotary disk 304, and the other end is hinged to the plane of the tool head mounting seat 306; specifically, a vertical single-sided bent linkage is provided on the side of each rotary disk 304, the main body of which is columnar and is integrally connected to the circumferential side of the rotary disk 304. The single-sided bent linkage is processed with a connecting portion bent outward at the upper end and a connecting through hole is processed for hinging. It should be noted that because the heights of each rotary disk are different, the lengths of the straight sections in the single-sided bent linkages are also different. What needs to be ensured is that the heights of the connecting through holes in each single-sided bent linkage are the same and the included angles between the hole axes and the plane of the upper surface of the base 301 are the same.

[0040] The tool head mounting seat 306 of this embodiment adopts an annular structure, and its back surface ( Figure 6 the lower surface of the shown orientation) is provided with a plurality of downward protruding connecting convex edges, and connecting through holes are also processed on the connecting convex edges.

[0041] Thus, the space linkage 305 of this embodiment is a double-sided bent linkage, that is, there is a straight section in the middle, and bent portions with the same bending direction are processed near both ends. Among them, the side of the space linkage 305 close to the rotary disk is hinged to the plane of the corresponding single-sided bent linkage, and the hinge axis forms an angle with the plane of the rotary disk (the plane of the upper surface of the base 301); the side of the space linkage 305 close to the tool head mounting seat 306 is hinged to the plane of the corresponding connecting convex edge, and the hinge axis is parallel to the plane of the back surface of the tool head mounting seat 306. As Figure 5 shown, the three space linkages 305 are spirally distributed.

[0042] As Figure 4 shown, the tool head mounting seat 306 is connected to the tool head 4.

[0043] In a specific embodiment, in order to reduce the entry of dust into the second multi-axis motion mechanism 3 during the acquisition process and affect the operation of the device, such as Figure 1 As shown, a corrugated hose can be sleeved outside the second multi-axis motion mechanism 3, and the corrugated hose can be removed when replacement or maintenance is required.

[0044] In the above design, through the drive of one or two servos 302, the corresponding rotary disks 304 are driven to rotate, thereby changing the relative positions of the three spatial linkages 305, so that the tool head mounting seat 306 generates the required inclination. The advantage of this embodiment is that the structure is simple and practical. Different from the hydraulic 6-axis platform or other multi-joint manipulators on the market, it only needs to focus on the waterproof problem of the servo, and uses a gear set to increase the transmission ratio, and cooperates with the self-locking property of the servo and the spatial linkage structure to provide stable support for the tool head; on the other hand, the design of this embodiment can also provide an additional rotation axis for the tool head by selecting three continuously rotatable servos to rotate in the same direction and at the same speed, which is particularly suitable for tool heads that do not work in a single axis.

[0045] Preferably, in combination with Figure 1 、 Figure 4 、 Figures 7 - 9 As shown, the tool head 4 of this embodiment includes an adaptive fitting floating mechanism 403 and a tool 404. The bottom plate of the tool head 4 is installed as its fixed end at the movable end (tool head mounting seat) of the second multi-axis motion mechanism 3.

[0046] Among them, as described above, the rotation of the tool head 4 can be realized through the second multi-axis motion mechanism 3. However, in order to simplify the control method, this embodiment adopts a design of independent motion, that is, the tool 404 is driven by a tool head motor 401 built in the tool head 4. Since this embodiment adopts a three-tool design, three groups of adaptive fitting floating mechanisms 403 are correspondingly arranged for transmission, and a tool driven gear 4031 is fixedly connected to the lower part of each adaptive fitting floating mechanism 403. The output shaft of the tool head motor 401 is installed with a tool driving gear 402, and the three tool driven gears 4031 are meshed around the tool driving gear 402 in a star-shaped distribution.

[0047] The tool driven gear 4031 of the adaptive fitting floating mechanism 403 is rotatably connected to the tool head bottom plate, and the tool head motor 401 is fixedly connected to the tool head bottom plate relatively.

[0048] Furthermore, in this embodiment, in order to achieve adaptive fitting floating, the adaptive fitting floating mechanism 403 further includes a fixed support 4032, an elastic member and a universal joint 4034.

[0049] Among them, the fixed support 4032 is in the shape of a hollow cylinder. Its bottom surface is fixedly connected to the tool driven gear 4031, and notches are machined on the column body, including three first notches and three second notches, with the first notches and the second notches arranged alternately. Among them, the first notch is a through notch facing upward, which is used to increase the overall deformation amount; while the second notch is a notch that is closed on all sides and radially through, and is used as a sliding structure and a circumferential limiting structure.

[0050] An elastic member is provided between the fixed support 4032 and the universal joint 4034. In this embodiment, a common spring 4033 is used as the elastic member, and positioning posts are machined on the bottom surface of the fixed support 4032 (the surface of the tool driven gear 4031) to stabilize the position of the spring 4033.

[0051] The fixed support 4032 is slidably hinged to the universal joint 4034; specifically, the main body of the universal joint 4034 is in the shape of a stepped shaft, and the reduced diameter position is machined into an arc transition. Three inverted hook-shaped structures are arranged along the circumference at the large diameter end of the universal joint 4034. When they are inserted into the corresponding second notches, a sliding structure and a circumferential limiting structure can be formed. Further, a blind hole facing downward is also machined inside the universal joint 4034 for sleeving the spring 4033. Furthermore, the fixed support 4032 is made of a high toughness material (such as nylon material), and the inner side surface of the fixed support 4032 and the outer side surface of the universal joint 4034 are designed with a clearance fit, so that the universal joint 4034 can slide axially and swing slightly under force, and rely on the spring 4033 to return to the initial position after unloading.

[0052] The universal joint 4034 is fixedly connected to the tool 404. In this embodiment, the tool is a grinding disc 404.

[0053] The above design can enable the three groups of tools 404 to rotate and grind the crust minerals, and make the tool disc adaptively fit the surface of the grinding area under the pressure condition.

[0054] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than a limitation on the protection scope of the present invention. Any simple modification or equivalent replacement of the technical solution of the present invention by those of ordinary skill in the art does not depart from the essence and scope of the technical solution of the present invention.

Claims

1. A seafloor plate-shaped cobalt-rich crust mining robot, characterized in that, It includes a self-propelled platform, a first multi-axis motion mechanism, a second multi-axis motion mechanism, and a tool head; The first multi-axis motion mechanism is installed on the self-propelled platform; the movable end of the first multi-axis motion mechanism is installed with the second multi-axis motion mechanism; the movable end of the second multi-axis motion mechanism is installed with the tool head; The second multi-axis motion mechanism is provided with a base, a turntable, a spatial link, and a tool head mounting seat; The base is fixedly connected to the movable end of the first multi-axis motion mechanism; There are multiple turntables, which are coaxially arranged; the turntable is rotatably connected to the base, and each turntable is connected to an independent turntable power unit for driving the turntable to rotate; There are multiple spatial links, which correspond to the turntables one by one; one end of the spatial link is hinged to the plane of the corresponding turntable, and the other end is hinged to the plane of the tool head mounting seat; The tool head mounting seat is connected to the tool head.

2. The cobalt-rich crust mining robot in the form of a sea floor plate according to claim 1, characterized in that Each turntable is provided with a central hole, and a hollow shaft with the same inner diameter is fixedly connected at the central hole; the inner diameter of the central hole of the turntable and the length of the hollow shaft are different; The end of each hollow shaft is coaxially fixedly connected with a turntable follower; Multiple turntables form a stacked coaxial nested structure, and each turntable is connected to the turntable power unit through a transmission component.

3. The cobalt-rich crust mining robot in the form of a sea floor plate according to claim 2, characterized in that, A plurality of turntable power units are arranged circumferentially on the base, and the output shaft of each turntable power unit is installed with a turntable driving member and is connected to the corresponding turntable follower.

4. The seabed plate-shaped cobalt-rich crust mining robot according to claim 2 or 3, characterized in that, There is a vertical mounting shaft on the base; The turntable is sleeved on the mounting shaft and is rotatably connected to the mounting shaft; A plurality of the turntable power units are also arranged on the periphery of the mounting shaft, and scattered stepped mounting bosses are correspondingly arranged; the turntable power units are correspondingly installed on the mounting bosses.

5. The seafloor plate-shaped cobalt-rich crust mining robot according to claim 1, characterized in that, A vertical single-sided bent link is provided on the side of each turntable; a plurality of downward protruding connecting edges are provided on the back of the tool head mounting seat; The spatial link is a double-sided bent link; One side of the spatial link close to the turntable is hinged to the plane of the corresponding single-sided bent link, and the hinge axis forms an angle with the plane where the turntable is located; One side of the spatial link close to the tool head mounting seat is hinged to the plane of the corresponding connecting edge, and the hinge axis is parallel to the plane where the back of the tool head mounting seat is located; The multiple spatial links are spirally distributed.

6. The cobalt-rich crust mining robot in the form of a sea floor slab according to claim 1, characterized in that, The tool head includes an adaptive fitting floating mechanism and a tool; The fixed end of the adaptive fitting floating mechanism is installed at the movable end of the second multi-axis motion mechanism; At least one tool is installed at the movable end of the adaptive fitting floating mechanism.

7. The cobalt-rich crust mining robot in the form of a sea floor plate according to claim 6, characterized in that, The adaptive fitting floating mechanism includes a fixed support, an elastic member, and a universal joint; The elastic member is provided between the fixed support and the universal joint; The fixed support is slidably hinged to the universal joint and is provided with a circumferential limiting structure; The universal joint is fixedly connected to the tool.

8. The seafloor plate-shaped cobalt-rich crust mining robot according to claim 6 or 7, characterized in that The tool head also includes a tool head power unit; The output end of the tool head power unit is connected to the adaptive fitting floating mechanism through a transmission component for driving the tool to rotate; The tool is a grinding disc.

9. The seabed plate-shaped cobalt-rich crust mining robot according to claim 1, wherein The self-propelled platform is a swing-arm type crawler chassis.

10. The cobalt-rich crust mining robot in the form of a sea floor plate according to claim 1, characterized in that, The first multi-axis motion mechanism is a multi-axis gantry.

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