A seabed plate-shaped cobalt-rich crust mining robot

Abstract

The application provides a seabed plate-shaped cobalt-rich nodule mining robot, which comprises a self-walking platform, a first multi-axis motion mechanism, a second multi-axis motion mechanism and a cutter head. The first multi-axis motion mechanism, the second multi-axis motion mechanism and the cutter head are sequentially installed on the self-walking platform. The second multi-axis motion mechanism is provided with a base, a rotating disc, a space connecting rod and a cutter head mounting seat. Each rotating disc is connected with a power unit. The space connecting rod is hingedly connected with the rotating disc at one end and hingedly connected with the cutter head mounting seat at the other end. The application has the advantages of simple structure and low cost. The position and posture of the cutter head are changed through the combination of multiple multi-axis motion mechanisms, and the multi-axis mechanism composed of the rotating disc and the space connecting rod can not only increase the flexibility of the cutter head to apply more types of collection areas, but also significantly reduce the complexity of the structure. The second multi-axis motion mechanism drives the multi-axis motion in the form of rotation, which can better adapt to the high-pressure environment of the seabed, and no additional sealing and pressure-resistant design is needed.

Description

TECHNICAL FIELD

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

[0002] The strategic position of marine mineral resources is remarkable, among which the distribution of metal minerals is widely used in military aerospace, petroleum chemical industry, glass manufacturing, medical treatment and other fields. Especially, cobalt can be used as a relatively optimal and stable positive electrode material in lithium batteries in new energy batteries, and its importance is self-evident.

[0003] However, in the process of mining marine mineral resources in China, cobalt ore is still a scarce resource at present, and most of it depends on import. The main reason is that the mining of mineral resources is difficult, the plate-shaped cobalt-rich crust is distributed on the surface of bedrock, but the bedrock is rugged and large in area, and the current mining equipment is difficult to travel stably, and the execution end cannot realize flexible posture change, resulting in low mining efficiency, high mining cost and other problems.

[0004] At present, there are two forms of seabed mineral enrichment, one is mechanical enrichment, that is, using a machine arm to pick up, etc., and the other is to use a flushing type of enrichment. Among them, the mechanical enrichment has the problem of low efficiency, and the flushing type of enrichment is to use a water jet to enrich, which has the problem of high energy consumption.

[0005] In the prior art, there are relatively few mining robots in the field of seabed mineral mining at home and abroad, especially in the field of mining cobalt-rich crust. The following are two common seabed mineral mining robots on the market:

[0006] 1. Seafloor Production Tools developed by Nautilus Minerals Company, which has certain performance advantages, so it occupies a certain position in the market. This type of robot uses simulation design technology, so that its drill bit can quickly crush the widely distributed ore on the seabed, so it has been applied in the field of polymetallic nodule mining. In addition, they are also equipped with a variety of sensor systems that can detect and identify polymetallic nodules, thereby improving the efficiency of mining operations.

[0007] 2. Nautilus's Seafloor Production Tools, which is concerned due to its high reliability and durability, and can continuously operate in extremely harsh seabed environments for a period of time to ensure the completion of part of the task.

[0008] However, although the above mining equipment performs very well, it still has certain limitations when facing complex terrain. Especially in the plate-shaped mining of cobalt-rich crust, since these resources are often distributed in areas with large slopes, the mining efficiency is restricted to a certain extent; that is, for complex seabed scenes, there is no relatively flexible execution end in the current technology, which cannot efficiently change the attitude of the mining part, so that the easily mined crust cannot be obtained, affecting the improvement of system efficiency. At the same time, the need for the coordinated operation of many auxiliary equipment also makes the energy consumption of the entire mining system relatively high.

[0009] In summary, it is also necessary to develop a mining robot for seabed cobalt-rich crust mining, especially for complex seabed topography and difficult mining scenes, to realize efficient and low-cost collection operations. SUMMARY

[0010] The present application provides a seabed plate-shaped cobalt-rich crust mining robot to solve the above problems.

[0011] To achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0012] The present application provides a seabed plate-shaped cobalt-rich crust mining robot, comprising a self-walking platform, a first multi-axis motion mechanism, a second multi-axis motion mechanism and a tool bit.

[0013] The first multi-axis motion mechanism is installed on the self-walking 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 tool bit;

[0014] The second multi-axis motion mechanism is provided with a base, a rotary disc, a space connecting rod and a tool bit mounting seat;

[0015] The base is fixedly connected with the movable end of the first multi-axis motion mechanism;

[0016] The rotary disc has a plurality of coaxially arranged rotary discs; the rotary disc is rotatably connected with the base, and each rotary disc is connected with an independent rotary disc power unit for driving the rotary disc to rotate;

[0017] The space connecting rod has a plurality of space connecting rods corresponding to the rotary discs; one end of the space connecting rod is hingedly connected with the corresponding rotary disc, and the other end is hingedly connected with the tool bit mounting seat;

[0018] The tool bit mounting seat is connected with the tool bit.

[0019] Further, each rotary disc is provided with a central hole, and a hollow shaft with the same inner diameter is fixedly connected in the central hole; the central hole inner diameter of the rotary disc and the length of the hollow shaft are not the same.

[0020] The end of each hollow shaft is coaxially connected with a rotary disc driven part;

[0021] The plurality of rotary discs form a stacked coaxial nested structure, and each rotary disc is connected with the rotary disc power unit through a transmission assembly.

[0022] Further, the base is circumferentially provided with a plurality of rotary disc power units, and the output shaft of each rotary disc power unit is provided with a rotary disc driving part and connected with a corresponding rotary disc driven part.

[0023] Further, the base is provided with a vertical mounting shaft;

[0024] The rotary disc is sleeved on the mounting shaft and rotationally connected with the mounting shaft;

[0025] The mounting shaft is further provided with a plurality of rotary disc power units and correspondingly provided with dispersed stepped mounting bosses; the rotary disc power units are correspondingly mounted on the mounting bosses.

[0026] Further, the side edge of each rotary disc is provided with a vertical one-side bent connecting rod; the back surface of the tool head mounting seat is provided with a plurality of downward convex connecting edges;

[0027] The space connecting rod is a double-side bent connecting rod;

[0028] The side of the space connecting rod close to the rotary disc is hingedly connected with the corresponding one-side bent connecting rod in a plane, and the hinge shaft is at an angle with the plane where the rotary disc is located;

[0029] The side of the space connecting rod close to the tool head mounting seat is hingedly connected with the corresponding connecting edge in a plane, and the hinge shaft is parallel to the plane where the back surface of the tool head mounting seat is located;

[0030] The plurality of space connecting rods are distributed in a spiral shape.

[0031] Further, the tool head comprises an adaptive fitting floating mechanism and a tool;

[0032] The fixed end of the adaptive fitting floating mechanism is mounted on the movable end of the second multi-axis motion mechanism;

[0033] The movable end of the adaptive fitting floating mechanism is mounted with at least one tool.

[0034] Further, the adaptive fitting floating mechanism comprises a fixed support, an elastic member and a universal buckle;

[0035] The elastic member is arranged between the fixed support and the universal buckle;

[0036] The fixed support is slidingly hinged with the universal buckle and is provided with a circumferential limiting structure.

[0037] The universal buckle is fixedly connected with the cutter.

[0038] Further, the cutter head further comprises a cutter head power unit.

[0039] An output end of the cutter head power unit is connected with the self-adaptive fitting floating mechanism through a transmission assembly, for driving the cutter to rotate.

[0040] The cutter is a grinding disc.

[0041] Further, the self-walking platform is a swing arm type tracked chassis.

[0042] Further, the first multi-axis motion mechanism is a multi-axis gantry.

[0043] Compared with the prior art, the present application has the following beneficial effects:

[0044] The present application has the advantages of simple structure, low cost, mechanical enrichment mining design of the cutter head, position and attitude transformation of the cutter head through the combination of multiple multi-axis motion mechanisms, especially the multi-axis mechanism composed of the swing disc and the space connecting rod, which can not only quickly realize large-range movement and multi-angle inclination of the cutter head, increase the flexibility of the cutter head, and apply 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 the form of rotation, which can better adapt to the high-pressure environment of the seabed, and does not need additional sealing and pressure-resistant design. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0046] Figure 1 It is a whole perspective view in the specific embodiment of the present application.

[0047] Figure 2 It is a perspective view of the self-walking platform in the specific embodiment of the present application.

[0048] Figure 3 It is a perspective view of the first multi-axis motion mechanism in the specific embodiment of the present application.

[0049] Figure 4 It is a perspective view of the installation position of the second multi-axis motion mechanism in the specific embodiment of the present application.

[0050] Figure 5 is a perspective view of the internal structure of the second multi-axis movement mechanism in an embodiment of the present application;

[0051] Figure 6 is an exploded view of the second multi-axis movement mechanism in an embodiment of the present application;

[0052] Figure 7 is a perspective view of the internal structure of the tool head in an embodiment of the present application;

[0053] Figure 8 is a sectional view of the self-adaptive fitting floating mechanism in an embodiment of the present application;

[0054] Figure 9 is an exploded view of the self-adaptive fitting floating mechanism in an embodiment of the present application.

[0055] In the figure: 1, self-walking platform, 2, first multi-axis movement mechanism, 3, second multi-axis movement mechanism, 4, tool head, 101, swing arm, 201, horizontal electric drive screw slide rail, 202, vertical electric drive screw slide rail, 203, first mounting table, 204, second mounting table, 301, base, 302, steering wheel, 303, driving gear, 304, rotary disc, 305, space connecting rod, 306, tool head mounting seat, 307, rotary disc mounting circular table, 401, tool head motor, 402, tool driving gear, 403, self-adaptive fitting floating mechanism, 404, tool, 3041, first rotary disc, 3042, second rotary disc, 3043, third rotary disc, 4031, tool driven gear, 4032, fixed support, 4033, spring, 4034, universal buckle. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0057] It should be noted that: similar labels and letters represent 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 the subsequent drawings.

[0058] In the description of the present application, it should be understood that the relative relationship indicated by the terms "upper", "lower", "back", "side" and the like is based on the sequence of contact with the material in the actual application in the direction of rotation, for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element indicated must have a specific position, and therefore cannot be understood as a limitation on the present application.

[0059] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0060] In the present application, unless otherwise specifically specified and limited, the terms "mounting", "connection" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0061] It should also be noted that the methods used in the present application are conventional methods unless otherwise specified; the raw materials and devices used are conventional commercially available products unless otherwise specified.

[0062] The present application provides a kind of Figure 1 The seabed plate-shaped cobalt-rich crust mining robot shown in the figure mainly includes a self-propelled platform 1, a first multi-axis motion mechanism 2, a second multi-axis motion mechanism 3 and a tool bit 4.

[0063] Among them, the embodiment fully considers the complex topography of seabed scene, in order to provide strong stability for the system in actual work, therefore, combined with Figure 2 As shown in the figure, the preferred self-propelled platform 1 is a swing arm type tracked chassis, which specifically adopts a four-swing-arm tracked chassis, which is internally provided with multiple control motors, which respectively control the four swing arms 101, so as to adapt to the change of terrain and provide higher grip force, thereby ensuring the stability of the whole system during work.

[0064] The first multi-axis motion mechanism 2 is installed on the self-propelled platform 1, as Figure 3As shown, the embodiment preferably is a multi-axis gantry, which is different from the design of the conventional cross-shaped gantry, and is optimized for the characteristics of the seabed environment. Specifically, the multi-axis gantry of the embodiment adopts a redundant design, and two independent horizontal electric drive screw rod slides 201 are arranged at the bottom mounting position, and the bottom surface is fixedly connected to the mounting surface of the self-propelled platform 1 through an I-shaped base. A vertical electric drive screw rod slide 202 is arranged on the slider of each horizontal electric drive screw rod slide 201. The two vertical electric drive screw rod slides 202 are symmetrically arranged, and a cross beam structure is arranged on the sliders of the two slides. The cross beam structure adopts four optical shafts as the main body, and a first mounting table 203 is slidably arranged thereon. The first mounting table 203 adopts a box structure, and linear bearings are arranged at four side edges, so as to form a sliding connection structure with the four optical shafts. In order to realize the lateral control movement of the first mounting table 203, a servo motor is arranged on the slider of each vertical electric drive screw rod slide 202 in the embodiment, and a transmission belt is connected across the servo motors. The first mounting table 203 is directly or indirectly connected to the transmission belt, so that the first mounting table 203 can be driven to move laterally by the servo motor. Further, a connection relationship is specifically described in the embodiment to illustrate the lateral movement principle. Two installation grooves are processed through the left and right sides of the first mounting table 203 in the lateral direction. The upper and lower installation grooves are respectively used to pass through the transmission belt, and a connecting clamp block is fixed on the transmission belt. The connecting clamp block is fixedly connected to the first mounting table 203.

[0065] In the design of the above first multi-axis movement mechanism 2, unlike the common single-axis single-power design, the embodiment is designed for the single-axis multi-power of the seabed environment, that is, a redundant design of a multi-power unit is adopted. The purpose is to provide double protection and sufficient power support for the high pressure and corrosion environment of the seabed, and also to provide a feasible escape solution for the jamming or blocking caused by sand and stones, that is, to perform a small amount of reciprocating movement on the side not jammed or blocked to promote the falling of the jamming or blocking object.

[0066] The active end of the first multi-axis movement mechanism 2 is provided with a second multi-axis movement mechanism 3. Specifically, as shown in Figure 4 in order to adapt to the collection direction, a second mounting table 204 is separately designed in the first multi-axis movement mechanism 2. The function of the second mounting table 204 is to change the collection direction of the second multi-axis movement mechanism 3 by a large angle, so as to reduce the angle adjustment requirement of the second multi-axis movement mechanism 3. The second mounting table 204 adopts a bevel cylindrical structure, and the flat bottom surface is fixedly connected to the front end surface of the first mounting table 203. The bevel surface is used to fix the second multi-axis movement mechanism 3.

[0067] As shown in Figure 1 , Figures 4-6 the second multi-axis movement mechanism 3 is mainly provided with a base 301, a rotary disc 304, a space connecting rod 305, and a tool bit mounting seat 306.

[0068] In the embodiment, the base 301 has a disc structure, and the back surface of the base 301 is fixedly connected with the second mounting table 204, so that the base 301 is fixedly connected with the movable end of the first multi-axis movement mechanism 2. The middle part of the front surface of the base 301 is provided with a rotary disc mounting circular table 307, and a vertical mounting shaft is arranged at the axial position, which is used for mounting the rotary disc 304. There are a plurality of rotary discs 304, and three rotary discs 304 are taken as an example in the embodiment. The three rotary discs 304 are coaxially arranged and are rotationally connected with the base 301 in a sleeved mounting shaft mode, and each rotary disc 304 is connected with an independent rotary disc power unit for driving the rotary disc to rotate. Further, each rotary disc 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 disc driven part. The central hole diameters and the hollow shaft lengths of the three rotary disc structures are different. Specifically, in order to realize the stacked coaxial nested structure of the plurality of rotary discs, the rotary disc 304 in the embodiment is divided into a first rotary disc 3041, a second rotary disc 3042 and a third rotary disc 3043, and the central hole diameter of the first rotary disc 3041 is designed to be equal to the outer diameter of the mounting shaft, so that the first rotary disc 3041 is rotationally connected with the mounting shaft. The central hole diameter of the second rotary disc 3042 is equal to the outer diameter of the hollow shaft of the first rotary disc 3041, so that the second rotary disc 3042 is rotationally connected with the hollow shaft of the first rotary disc 3041. Similarly, the central hole diameter of the third rotary disc 3043 is equal to the outer diameter of the hollow shaft of the second rotary disc 3042, so that the third rotary disc 3043 is rotationally connected with the hollow shaft of the second rotary disc 3042. Further, the rotary disc driven parts of the three rotary discs are all driven gears, the central hole diameters of the gears are consistent with the diameters of the corresponding hollow shafts (the module and the number of teeth of the three driven gears are consistent), and each rotary disc is connected with the rotary disc power unit through a transmission assembly. The above solves the coaxial rotation problem between the rotary discs, and the stacked nesting problem also needs to be solved. Therefore, in order to realize the stacked coaxial nested structure of the plurality of rotary discs, the length of the hollow shaft of the first rotary disc 3041 is designed to be equal to the overall height of the second rotary disc 3042, and the length of the hollow shaft of the second rotary disc 3042 is designed to be equal to the overall height of the third rotary disc 3043.

[0069] In order to realize the separate driving of the rotating disc 304, an independent rotating disc power unit is selected. In this embodiment, the steering engine 302 is taken as an example to illustrate that three steering engines 302 are arranged on the base 301 in the circumferential direction. The output shaft of each steering engine 302 is provided with a rotating disc driving member, i.e. a driving gear 303, and is engaged with a corresponding driven gear. Since the three driven gears are arranged at different heights, two stepped mounting bosses are arranged on the side of the rotating disc mounting circular table 307 to pad up the steering engines 302 of the same specification. Thus, one steering engine 302 is directly mounted on the base 301, and the other two steering engines 302 are mounted on the corresponding mounting bosses to realize the engagement of the gear set.

[0070] Optionally, in order to reduce the transmission resistance, a thrust bearing is mounted on the rotating disc mounting circular table 307 to reduce the friction resistance during rotation.

[0071] Correspondingly, the spatial connecting rod 305 has three in this embodiment and corresponds to the rotating disc 304 one by one. One end of the spatial connecting rod 305 is hingedly connected to the corresponding rotating disc 304, and the other end is hingedly connected to the tool bit mounting seat 306. Specifically, the side of each rotating disc 304 is provided with a vertical single-side bent connecting rod, the main body of which is in the shape of a column and is integrally connected with the circumferential surface of the rotating disc 304. The single-side bent connecting rod is provided with an outwardly bent connecting portion at the upper end and a connecting through hole for hinging. It should be noted that the length of the straight section of the single-side bent connecting rod is different because the height of each rotating disc is different. It is necessary to ensure that the height of the connecting through hole of each single-side bent connecting rod is consistent and the angle between the hole axis and the plane of the upper surface of the base 301 is consistent.

[0072] The tool bit mounting seat 306 of this embodiment adopts a ring structure, and the back surface (the lower surface in the orientation shown) is provided with a plurality of downward convex connecting convex edges, and the connecting convex edges are also provided with connecting through holes. Figure 6

[0073] Thus, the spatial connecting rod 305 of this embodiment is a double-side bent connecting rod, i.e. a straight section in the middle and a bent portion of the same bending direction near the two ends. The side of the spatial connecting rod 305 close to the rotating disc is hingedly connected to the corresponding single-side bent connecting rod, and the hinging shaft forms an angle with the plane of the rotating disc (the plane of the upper surface of the base 301). The side of the spatial connecting rod 305 close to the tool bit mounting seat 306 is hingedly connected to the corresponding connecting convex edge, and the hinging shaft is parallel to the plane of the back surface of the tool bit mounting seat 306. As shown in Figure 5

[0074] As shown in Figure 4

[0075] ​​​In a specific embodiment, in order to reduce the dust entering the second multi-axis mechanism 3 during the collection process, affecting the operation of the device, as shown in Figure 1 The corrugated hose can be removed when replacement or maintenance is needed.

[0076] In the above design, through the driving of one or two steering engines 302, the corresponding rotating disc 304 is driven to rotate, thereby changing the relative positions of the three spatial links 305, so that the tool head mounting seat 306 produces the required inclination. The advantages of this embodiment are that the structure is simple and practical, unlike the hydraulic 6-axis platform or other multi-joint manipulators on the market, which only need to focus on the waterproof problem of the steering engine, and use the gear set to increase the transmission ratio, cooperate with the self-locking of the steering engine and the spatial link structure, and can provide stable support to the tool head; on the other hand, the design of this embodiment can also rotate the three continuously rotating steering engines at the same speed in the same direction, thereby providing an additional rotating shaft for the tool head, especially suitable for tool heads that do not work on a single shaft.

[0077] Preferably, in combination with Figure 1 , Figure 4 , Figures 7-9 As shown in the figure, 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 on the movable end (tool head mounting seat) of the second multi-axis mechanism 3.

[0078] As mentioned earlier, the tool head 4 can be rotated through the second multi-axis mechanism 3, but in order to simplify the control method, this embodiment adopts a self-movement design, that is, the tool 404 is driven by the tool head motor 401 built-in the tool head 4. Since this embodiment adopts a three-tool design, three sets of adaptive fitting floating mechanisms 403 are correspondingly provided for transmission, and one tool driven gear 4031 is fixedly connected below 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 distributed in a star shape around the periphery of the tool driving gear 402 and meshed.

[0079] The tool driven gear 4031 of the adaptive fitting floating mechanism 403 is rotationally connected with the tool head bottom plate, and the tool head motor 401 is fixedly connected with the tool head bottom plate.

[0080] Further, in this embodiment, in order to realize adaptive fitting and floating, the adaptive fitting floating mechanism 403 further includes a fixed support 4032, an elastic member, and a universal buckle 4034.

[0081] The fixed support 4032 is in a hollow cylindrical structure, the bottom surface is fixedly connected with the cutter driven gear 4031, and notches are processed on the column, including three first notches and three second notches, and the first notches and the second notches are arranged alternately. The first notches are upward through notches, and are used for increasing the overall deformation amount; and the second notches are radially through notches with a periphery closed, and are used as sliding structures and circumferential limiting structures.

[0082] The elastic member is arranged between the fixed support 4032 and the universal buckle 4034, and in the embodiment, the common spring 4033 is used as the elastic member, and a positioning column is processed on the bottom surface (the surface of the cutter driven gear 4031) of the fixed support 4032, so as to stabilize the position of the spring 4033.

[0083] The fixed support 4032 and the universal buckle 4034 are slidingly connected; specifically, the main body of the universal buckle 4034 is in a stepped shaft structure, and the reduced diameter position is processed as an arc surface transition, and three inverted hook-shaped structures are arranged on the large diameter end of the universal buckle 4034 in the circumferential direction, and the sliding structure and the circumferential limiting structure can be formed by inserting the hook-shaped structures into the corresponding second notches. Further, a downward blind hole is further processed in the universal buckle 4034, and is used for sleeving the spring 4033. Further, the fixed support 4032 is made of a high toughness material (such as nylon material), and the gap cooperation between the inner side surface of the fixed support 4032 and the outer side surface of the universal buckle 4034 can realize the axial sliding and small amplitude swinging of the universal buckle 4034 under stress, and the universal buckle 4034 can return to the initial position by the spring 4033 after unloading.

[0084] The universal buckle 4034 is fixedly connected with the cutter 404, and the cutter in the embodiment is a grinding disc 404.

[0085] The above design can realize the rotary grinding of the three groups of cutters 404 on the shell minerals, and the cutter disc surface can be self-adaptively attached to the surface of the grinding area under the pressure condition.

[0086] Finally, it should be noted that the above content is only used to illustrate the technical solutions of the present application, and is not a limitation on the protection scope of the present application. Simple modifications or equivalent replacements of the technical solutions of the present application made by those skilled in the art do not deviate from the essence and scope of the technical solutions of the present application.

Claims

1. A robot for mining seabed plate-shaped cobalt-rich crusts, characterized by: It includes a self-propelled platform, a first multi-axis motion mechanism, a second multi-axis motion mechanism and a cutter head; The self-propelled platform is equipped with the first multi-axis motion mechanism; the movable end of the first multi-axis motion mechanism is equipped with the second multi-axis motion mechanism; the movable end of the second multi-axis motion mechanism is equipped with the cutter head; The second multi-axis motion mechanism is provided with a base, a rotary disk, a spatial connecting rod and a tool head mounting seat; The base is fixedly connected to the movable end of the first multi-axis motion mechanism; The first multi-axis motion mechanism is a multi-axis gantry, and the bottom mounting position is provided with two independent horizontal electric-driven screw slides, the bottom surfaces of which are fixedly connected to the mounting surface of the self-propelled platform through an I-shaped base; a vertical electric-driven screw slide is installed on the slider of each horizontal electric-driven screw slide, and the two vertical electric-driven screw slides are symmetrically arranged, and a crossbeam structure is installed on the sliders of the two slides. The crossbeam structure adopts four optical axes as the main body, and the first mounting platform is slidably mounted thereon; a second mounting platform is also designed separately in the first multi-axis motion mechanism, and its function is to change the acquisition direction of the second multi-axis motion mechanism at a large angle, thereby reducing the angle adjustment requirement of the second multi-axis motion mechanism; the second mounting platform adopts a beveled cylindrical structure, the flat bottom surface is fixedly connected to the front end surface of the first mounting platform, and the beveled surface is used to fix the second multi-axis motion mechanism 3; There are multiple turntables, each of which is provided with a center hole, and a hollow shaft of the same inner diameter is fixedly connected to the center hole. The inner diameter of the center hole and the length of the hollow shaft of the turntable structure are different. The end of each hollow shaft is coaxially fixed with a turntable follower. The multiple turntables form a stacked coaxial nested structure, and each turntable is connected to the turntable power unit through a transmission assembly. The side of each turntable is provided with a vertical single-sided bent connecting rod; the back of the tool head mounting seat is provided with multiple downwardly convex connecting flanges; The spatial connecting rods are double-sided bending connecting rods, and there are a total of multiple of them. Each spatial connecting rod is hinged to the corresponding single-sided bending connecting rod plane on the side of the rotary disk, and the hinge axis is at an angle to the plane where the rotary disk is located; the spatial connecting rod is hinged to the corresponding connecting convex edge plane on the side of the cutter head mounting seat, and the hinge axis is parallel to the plane where the back of the cutter head mounting seat is located; the multiple spatial connecting rods are distributed in a spiral shape; The cutter head mounting seat is connected to the cutter head.

2. The seabed plate-shaped cobalt-rich crust mining robot according to claim 1, characterized in that: A plurality of turntable power units are arranged on the base along the circumferential direction. The output shaft of each turntable power unit is installed with a turntable active component and is connected with a corresponding turntable driven component.

3. The seabed plate-shaped cobalt-rich crust mining robot according to claim 2, characterized in that: A vertical mounting shaft is provided on the base; The rotary disk is mounted on the mounting shaft and is rotatably connected to the mounting shaft; A plurality of the turntable power units are further provided on the circumferential side of the installation shaft, and correspondingly, dispersed stepped installation bosses are provided; the turntable power units are correspondingly installed on the installation bosses.

4. The seabed plate-shaped cobalt-rich crust mining robot according to claim 1, characterized in that: The cutter head includes an adaptive fitting floating mechanism and a cutter; The fixed end of the adaptive fitting floating mechanism is installed on the movable end of the second multi-axis motion mechanism; At least one of the cutting tools is installed at the movable end of the self-adaptive floating mechanism.

5. The seabed plate-shaped cobalt-rich crust mining robot according to claim 4, characterized in that: The self-adaptive fitting floating mechanism includes a fixed support, an elastic member and a universal buckle; The elastic member is provided between the fixed support and the universal buckle; The fixed support is slidably hinged to the universal buckle and is provided with a circumferential limiting structure; The universal buckle is fixedly connected to the cutter.

6. The seabed plate-shaped cobalt-rich crust mining robot according to claim 4 or 5, characterized in that: The cutter head also includes a cutter head power unit; The output end of the cutter head power unit is connected to the adaptive fitting floating mechanism through a transmission assembly, so as to drive the cutter to rotate; The tool is a grinding disc.

7. The seabed plate-shaped cobalt-rich crust mining robot according to claim 1, characterized in that: The self-propelled platform is a swing arm type crawler chassis.

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