A step-by-step seafloor mining vehicle and method of use thereof

Abstract

The present application belongs to the technical field of deep-sea mining equipment, and provides a step-by-step seabed mining vehicle and a use method thereof. The mining vehicle comprises: a traveling unit having a first truss and a second truss that can slide relative to each other, for supporting and walking of the mining vehicle on the seabed; a mining unit arranged below the second truss, for collecting seabed minerals; a transfer unit connected to the mining unit at one end, for transferring seabed minerals; a temporary storage unit arranged above the second truss and connected to the other end of the transfer unit, for temporarily storing seabed minerals; and a motion control unit for providing power to the traveling unit, the mining unit and the transfer unit and controlling the operation thereof; wherein the first truss and the second truss can be alternately supported on the seabed, so as to realize step-by-step walking of the mining vehicle on the seabed through the relative sliding of the first truss and the second truss. Compared with a caterpillar-type seabed mining vehicle, the mining vehicle can walk on the seabed in a step-by-step manner, greatly reducing seabed disturbance and plume, and reducing the influence on the seabed environment.

Description

Technical Field

[0001] This invention relates to the field of deep-sea mining equipment technology, specifically to a walking-type seabed mining vehicle and its usage method. Background Technology

[0002] The deep seabed is rich in mineral resources, such as polymetallic nodules, polymetallic sulfides, and cobalt-rich crusts. Deep-sea resource extraction is an effective way to compensate for the depletion of terrestrial resources and an inevitable choice for the future. Among these, polymetallic nodules are widely distributed and have high metal content, making them an extremely important mineral resource for the future. They are often found on the surface sediments of the ocean floor at depths of 3500–6000 meters, often in a semi-buried state, some completely buried by sediments, and varying in size. Deep-sea mining faces the unique conditions and complex environment of the deep seabed. Collecting polymetallic nodules from the extremely soft seabed sediments with minimal disturbance requires significantly different mining techniques, equipment, and operating environments compared to terrestrial mining. Therefore, the extraction of polymetallic nodules from the seabed has higher requirements and presents greater challenges.

[0003] Currently, polymetallic nodules are generally collected using subsea mining vehicles. There are two main types of existing subsea mining vehicles: tracked and hovering. Tracked vehicles move by contacting the seabed, but they have poor adaptability to seabed terrain and generate significant plumes, which have a large impact on the seabed environment. Hovering vehicles, while eliminating the disturbance and plumes associated with contact with the seabed, still have their buoyancy directly affecting their operational efficiency and capacity. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a walking-type seabed mining vehicle and its usage method, thereby solving the problems of poor adaptability to seabed terrain, large seabed disturbance plumes, and low collection efficiency of existing seabed mining vehicles.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A walking-type seabed mining vehicle and its method of use, comprising:

[0007] The traveling unit has a first truss and a second truss that can slide relative to each other, which are used for the support and movement of this mining vehicle on the seabed;

[0008] A mining unit, located below the second truss, is used to collect seabed minerals;

[0009] A transfer unit, one end of which is connected to the mining unit, is used to transfer seabed minerals;

[0010] A temporary storage unit, located above the second truss and connected to the other end of the transfer unit, is used for temporarily storing seabed minerals; and

[0011] The motion control unit provides power to the traveling unit, mining unit, and transfer unit and controls their operation.

[0012] The first truss and the second truss can be alternately supported on the seabed so that the mining vehicle can move on the seabed by sliding relative to each other.

[0013] In one embodiment disclosed in this application, the first truss is provided with a rectangular frame, and the four corners of the rectangular frame are respectively connected to the first lifting support legs;

[0014] The second truss is provided with a support platform, and the four corners of the support platform are respectively connected to second lifting legs;

[0015] The support platform is slidably mounted on the rectangular frame by being driven by a telescopic hydraulic cylinder, and the width of the support platform is greater than the width of the rectangular frame so that the second lifting leg is located outside the long side of the rectangular frame.

[0016] In one embodiment disclosed in this application, the first lifting outrigger includes a first hollow column, a second hollow column, and a first telescopic rod. The first hollow column is fixedly connected to one corner of the rectangular frame. The second hollow column is slidably inserted into the first hollow column from the lower end of the first hollow column. The upper end of the first telescopic rod is hinged to the top of the first hollow column, and the lower end passes through the first hollow column and extends into the second hollow column to be hinged to the bottom of the latter.

[0017] The second lifting outrigger includes a third hollow column, a fourth hollow column, and a second telescopic rod. The third hollow column is fixedly connected to one corner of the support platform. The fourth hollow column is slidably inserted into the third hollow column from its lower end. The upper end of the second telescopic rod is hinged to the top of the third hollow column, and the lower end passes through the third hollow column and extends into the fourth hollow column to be hinged to its bottom.

[0018] One end of the telescopic cylinder is hinged to the middle of the short side of the rectangular frame, and the other end is hinged to the middle of the bottom surface of the support platform;

[0019] The first telescopic rod, the second telescopic rod, and the telescopic cylinder are electrically connected to the motion control unit.

[0020] In one embodiment disclosed in this application, a first support body is connected between the outer bottom of the second hollow column of each pair of first lifting legs on the short side of the rectangular frame;

[0021] A second support body is connected between the outer bottom of the fourth hollow column of each pair of second lifting legs on the short side of the support platform;

[0022] The second support is located below the rectangular frame.

[0023] In one embodiment disclosed in this application, the mining unit includes a collection pipe, a spiked roller, a water spray assembly, and a flexible skirt.

[0024] The collection pipe is generally flat, with a large square inlet and a small square outlet, and the square outlet is connected to the transfer unit;

[0025] The collection pipeline is equipped with a hanger, and the upper part of the hanger is connected to the bottom surface of the support platform;

[0026] The wolf tooth roller is located at the square inlet of the collection pipe and is rotatably connected to the lower part of the hanger through the drive of the driver. The driver is fixedly installed on the hanger and is electrically connected to the motion control unit.

[0027] The water spray assembly includes two booster pumps, two T-joints, two water supply pipes, and several nozzles. Each booster pump is electrically connected to the dynamic control unit, and its outlet is connected to a T-joint. The two T-joints are connected to each other through two water supply pipes. The two water supply pipes are respectively fixedly connected to the two long sides of the square inlet of the collection pipe. The several nozzles are divided into two groups of equal number and symmetrically arranged with respect to the toothed roller. Each group of nozzles is connected to each water supply pipe at equal intervals, and its spray direction is inclined towards the toothed roller to spray water towards the seabed.

[0028] The flexible skirt is symmetrically suspended on the lower side of the two long sides of the support platform and located between the second lifting legs, so as to surround the collection pipe, the spiked roller and the water spray assembly together with the two second support bodies.

[0029] In one embodiment disclosed in this application, multiple mining units are arranged in parallel.

[0030] In one embodiment disclosed in this application, the transfer unit includes a first delivery pipe, a second delivery pipe, a suction pump, and a third delivery pipe connected in sequence. The inlet of the first delivery pipe is connected to the square outlet of the collection pipe. The suction pump is electrically connected to the motion control unit. The outlet of the third delivery pipe is connected to the temporary storage unit.

[0031] The second conveying pipe, the suction pump, and the third conveying pipe are all fixedly installed on a bracket, and the bracket is fixedly connected to the top surface of the support platform to form the body of the mining vehicle.

[0032] The top of the bracket is provided with a power terminal for connecting an external cable to supply power to the motion control unit.

[0033] In one embodiment disclosed in this application, the temporary storage unit includes a storage bin with a quick-connect interface and a cover plate for covering the quick-connect interface;

[0034] The ore storage bin is connected to the outlet of the third conveying pipeline and is fixedly installed on the support. The bottom of the ore storage bin is provided with a perforated plate for seeping mud and sand. A flexible pipe extending to the seabed is connected below the perforated plate for directly discharging mud and sand to the seabed.

[0035] The cover plate is rotatably connected to the ore storage bin, and it can be automatically opened when the ore storage bin is full of seabed minerals to expose the quick-connect interface for connecting to an external pipeline with a booster pump for external ore transportation.

[0036] In one embodiment disclosed in this application, the motion control unit is disposed on a bracket below the suction pump and the third delivery pipe, and includes:

[0037] A stepping and lifting dynamic control subunit is used to provide power to the traveling unit and control its operation; and

[0038] The mining and transfer control subunit is used to provide power to the mining unit and the transfer unit and control their operation.

[0039] A method for using a walking-type seabed mining vehicle includes the following steps:

[0040] S01. On the support vessel, slide the support platform to the extreme position at one end of the rectangular frame so that the mining car is in the left working position, and lower all four first lifting legs and four second lifting legs to support the mining car.

[0041] S02. After connecting the external cable to the power terminal, use the special crane on the support vessel to lift the mining vehicle into the sea and land it in the predetermined working area for seabed mining, so that the four first lifting legs and the four second lifting legs sit on the bottom at the same time.

[0042] S03. Control the operation of the traveling unit through the dynamic control unit to adjust the height of the four first lifting legs and the four second lifting legs so that the toothed drum and flexible skirt of the mining unit come into contact with the seabed of the predetermined working area.

[0043] S04. Control the operation of the mining unit through the dynamic control unit to trigger the seabed minerals to jump;

[0044] S05. The transfer unit is controlled by the dynamic control unit to generate suction at the square inlet of the collection pipe, which sucks the jumping seabed minerals into the collection pipe and then transfers them to the storage bin of the temporary storage unit through the first to third transport pipes in sequence.

[0045] S06. While S04 and S05 are being performed, the four first lifting outriggers are retracted upwards and the telescopic cylinders are activated by the motion control unit. This drives the rectangular frame to slide relative to the support platform so that the support platform is located at the extreme position at the other end of the rectangular frame, thus placing the mining vehicle in the right work position.

[0046] S07. After mining in the current designated work area is completed, the four first lifting outriggers are lowered again to support the mining vehicle on the seabed, and the whole vehicle is raised so that the toothed roller and flexible skirt are removed from the seabed. At the same time, the four second lifting outriggers are retracted upward to leave the seabed. Through the reverse action of the telescopic cylinder, the support platform slides on the rectangular frame and moves the mining unit, transfer unit and temporary storage unit together to the extreme position at one end of the rectangular frame, so that the mining vehicle returns to the left work position and is located above the next designated work area.

[0047] S08. Lower the four second lifting outriggers, and repeat S03 to S05 to carry out mining in the next designated work area;

[0048] S09. Repeat S06 to S08 to complete mining operations in multiple different predetermined work areas;

[0049] S10. When the ore storage bin is full of seabed minerals, the mining unit and the transfer unit are stopped by the dynamic control unit. The cover plate is automatically opened to connect to the external pipeline with the lifting pump through the quick-connect interface. The seabed minerals are transported to the sea surface through the external pipeline under the action of the lifting pump to complete the unloading.

[0050] S11. Disconnect the quick-connect interface from the external pipeline with the booster pump and close the cover. Repeat S09 and S10 to continue step mining and unloading.

[0051] Compared with the prior art, the beneficial effects of the present invention are:

[0052] 1. Compared with tracked seabed mining vehicles, this mining vehicle can walk on the seabed by alternating support and relative sliding of the first and second trusses, which greatly reduces seabed disturbance and plumes and reduces the impact on the seabed environment.

[0053] 2. Through the coordinated operation of the first and second telescopic rods and the telescopic hydraulic cylinder, this mining vehicle is suitable for harsh seabed conditions and complex terrain, and has a certain seabed terrain adaptive adjustment function, enabling efficient and reliable seabed mining operations.

[0054] 3. The first support body and the second support body connect the pair of first lifting legs on the short side of the rectangular frame and the pair of second lifting legs on the short side of the support platform, respectively, so that they can be raised and lowered synchronously. At the same time, it can increase the contact area between the first lifting legs and the seabed, thereby strengthening the support reliability of the first lifting legs and the second lifting legs and effectively improving the stability of the mining vehicle in the mining process.

[0055] 4. The "wolf tooth roller + water jet assembly" is designed to lift seabed minerals using a combination of "mechanical agitation and high-pressure jetting," enabling efficient and reliable seabed mining operations and greatly improving operational efficiency. In addition, the flexible skirt and second support structure effectively prevent seabed minerals from jumping out of the collection area and reduce or block the overflow of seabed suspended plumes generated during the mining process, thereby reducing seabed disturbance and minimizing the damage to the deep-sea environment caused by the seabed mining process.

[0056] 5. The simultaneous joint operation of multiple mining units can expand the area of ​​a single mining operation and further improve the efficiency of seabed mining operations.

[0057] 6. The perforated plate enables the initial separation of seabed minerals and sediment, thereby reducing the energy waste of lifting useless materials from the seabed to the surface; by opening the cover plate, the quick-connect interface can be connected to the external pipeline with the lifting pump for external ore transportation, which can quickly unload the seabed minerals in the ore storage bin. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 This is a three-dimensional structural diagram of the present invention in the left work position;

[0060] Figure 2 This is a three-dimensional structural diagram of the present invention at the intermediate workstation. Figure 1 ;

[0061] Figure 3 This is a three-dimensional structural diagram of the present invention in the right workstation position;

[0062] Figure 4 This is a three-dimensional structural diagram of the present invention at the intermediate workstation. Figure 2 ;

[0063] Figure 5 This is a three-dimensional structural diagram of the traveling unit;

[0064] Figure 6 This is a schematic diagram of the main structure of the mining unit, transfer unit, temporary storage unit, and motion control unit.

[0065] Figure 7 Schematic diagram of the three-dimensional structure of a mining unit Figure 1 ;

[0066] Figure 8 Schematic diagram of the three-dimensional structure of a mining unit Figure 2 . Detailed Implementation

[0067] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0068] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0069] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0070] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0071] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0072] The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, these are merely examples and are not intended to limit the present invention.

[0073] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0074] See Figures 1 to 8 As shown, in one aspect, the present invention provides a walking-type seabed mining vehicle, comprising:

[0075] The traveling unit 100 has a first truss 110 and a second truss 120 that can slide relative to each other, for the support and movement of this mining vehicle on the seabed;

[0076] Mining unit 200, located below the second truss 120, is used to collect seabed minerals;

[0077] The transfer unit 300 is connected at one end to the mining unit 200 and is used to transfer seabed minerals.

[0078] Temporary storage unit 400, located above the second truss 120 and connected to the other end of transfer unit 300, is used for temporary storage of seabed minerals; and

[0079] The motion control unit 500 provides power to the traveling unit 100, the mining unit 200, and the transfer unit 300 and controls their operation;

[0080] The first truss 110 and the second truss 120 can be alternately supported on the seabed so that the mining vehicle can move on the seabed by sliding relative to each other.

[0081] Specifically, the first truss 110 is provided with a rectangular frame 111, and the four corners of the rectangular frame 111 are respectively connected to the first lifting outriggers 112; the second truss 120 is provided with a support platform 121, and the four corners of the support platform 121 are respectively connected to the second lifting outriggers 122; the support platform 121 is slidably mounted on the rectangular frame 111 by means of a telescopic cylinder 130 (that is, by means of the telescopic cylinder 130, when the position of the rectangular frame 111 remains unchanged, the support platform 121 can slide on the rectangular frame 111, and when the position of the support platform 121 remains unchanged, the rectangular frame 111 can slide on the support platform 121, thereby realizing...). The sliding between the first truss 110 and the second truss 120; the sliding fit can be the fit between the slide rail or groove provided on the rectangular frame 111 and the slide rail or groove provided on the support platform 121, which is not specifically limited in this application; of course, the sliding fit can also be replaced by a rolling fit, such as a guide rail and a pair of rollers rolling on and off the guide rail (any structure that can generate relative displacement and maintain the fit relationship is acceptable), and the width of the support platform 121 is greater than the width of the rectangular frame 111 so that the second lifting leg 122 is located outside the long side of the rectangular frame 111.

[0082] During mining, this mining vehicle uses Figure 1 The left workstation shown (i.e., the support platform 121 sliding to its extreme position at one end of the rectangular frame 111) lands in the designated seabed mining area, causing the four first lifting legs 112 and four second lifting legs 122 to simultaneously sit on the bottom to stably support the entire mining vehicle. Then, the mining unit 200 and the transfer unit 300 are controlled by the motion control unit 500 to operate, carrying out seabed mineral mining operations and transferring the seabed minerals to the temporary storage unit 400 for temporary storage. During the mining process, the four first lifting legs 112 retract upwards to leave the seabed (at this time, the entire mining vehicle is supported by the four second lifting legs 122). Driven by the telescopic cylinder 130, the rectangular frame 111 slides relative to the support platform 121 so that the support platform 121 is at its extreme position at the other end of the rectangular frame 111, thereby allowing the mining vehicle to... Figure 2 The intermediate workstation shown stops at Figure 3On the right workstation shown; after mining in the current designated work area is completed, the four first lifting outriggers 112 are lowered again to support the entire mining vehicle and raise it to a certain height, so that the mining unit 200 is lifted off the seabed. At the same time, the four second lifting outriggers 122 are retracted upwards to leave the seabed. Driven by the telescopic cylinder 130, the support platform 121 slides on the rectangular frame 111 and moves the mining unit 200, the transfer unit 300 and the temporary storage unit 400 together to the extreme position at one end of the rectangular frame 111, so that the mining vehicle returns to the left workstation. At this time, the four second lifting outriggers 122 are lowered again and together with the four first lifting outriggers 112 support the entire mining vehicle. The mining vehicle is moved to another designated work area for mining by walking. Afterwards, the above steps are repeated to complete mining operations in multiple different designated work areas. In other words, compared with tracked seabed mining vehicles, this mining vehicle can walk on the seabed by alternating support and relative sliding of the first truss 110 and the second truss 120, which greatly reduces seabed disturbance and plume, and reduces the impact on the seabed environment.

[0083] To improve the stability of the mining vehicle during the mining process, the four first lifting legs 112 can be temporarily left unretracted to support the entire mining vehicle together with the four second lifting legs 122. Alternatively, after the support platform 121 is located at the extreme position at the other end of the rectangular frame 111 by sliding, the four first lifting legs 112 can be lowered in time to cooperate with the four second lifting legs 122 to effectively support the entire mining vehicle until the mining in the current predetermined work area is completed. Then, the four first lifting legs 112 can be lowered a certain distance to raise the entire mining vehicle to a certain height, so that the mining unit 200 and the four second lifting legs 122 are removed from the seabed. At the same time, the four second lifting legs 122 can be retracted upwards to facilitate the sliding of the support platform 121 on the rectangular frame 111 to move the mining unit 200, the transfer unit 300 and the temporary storage unit 400 together to the extreme position at one end of the rectangular frame 111.

[0084] See Figure 5As shown, the first lifting outrigger 112 includes a first hollow column 112A, a second hollow column 112B, and a first telescopic rod (not shown in the figure). The first hollow column 112A is fixedly connected to one corner of the rectangular frame 111. The second hollow column 112B slides into the first hollow column 112A from its lower end. The upper end of the first telescopic rod is hinged to the top of the first hollow column 112A, and the lower end passes through the first hollow column 112A and extends into the second hollow column 112B to be hinged to the bottom of the latter. The second lifting outrigger 122 includes a third hollow column 122A, a fourth hollow column 122B, and a second telescopic rod. The first telescopic rod (not shown in the figure), the third hollow column 122A is fixedly connected to one corner of the support platform 121, the fourth hollow column 122B slides into the third hollow column 122A from the lower end of the third hollow column 122A, the upper end of the second telescopic rod is hinged to the top of the third hollow column 122A, and the lower end passes through the third hollow column 122A and extends into the fourth hollow column 122B to be hinged to the bottom of the latter; one end of the telescopic cylinder 130 is hinged to the middle of the short side of the rectangular frame 111, and the other end is hinged to the middle of the bottom surface of the support platform 121; the first telescopic rod, the second telescopic rod and the telescopic cylinder 130 are electrically connected to the motion control unit 500 respectively. The first and second telescopic rods are extended and retracted by the motion control unit 500, thereby achieving alternating support for the entire mining vehicle by the first truss 110 (first lifting outrigger 112) and the second truss 120 (second lifting outrigger 122). Simultaneously, by adjusting the extension and retraction lengths of the first and second telescopic rods to be the same or different, the mining vehicle's adaptability to seabed terrain is improved, and its height can be adjusted, thus meeting the requirements of the mining unit 200 for seabed mineral extraction operations. The extension and retraction of the telescopic cylinder 130 is controlled by the motion control unit 500, thereby achieving relative sliding of the first truss 110 (rectangular frame 111) and the second truss 120 (support platform 121), thus enabling the mining vehicle to move step by step. In other words, through the coordinated operation of the first and second telescopic rods and the telescopic cylinder 130, this mining vehicle is suitable for harsh seabed conditions and complex terrain, possessing a certain degree of seabed terrain adaptive adjustment capability, and enabling efficient and reliable seabed mining operations.

[0085] To enhance the support reliability of the first lifting outrigger 112 and the second lifting outrigger 122 and improve the stability of the mining vehicle during the mining process, a first support body 113 is connected between the outer bottom of the second hollow column 112B of each pair of first lifting outriggers 112 on the short side of the rectangular frame 111; a second support body 123 is connected between the outer bottom of the fourth hollow column 122B of each pair of second lifting outriggers 122 on the short side of the support platform 121; the second support body 123 is located below the rectangular frame 111. That is to say, the first support body 113 and the second support body 123 connect a pair of first lifting outriggers 112 on the short side of the rectangular frame 111 and a pair of second lifting outriggers 122 on the short side of the support platform 121, respectively, so that they can lift and lower synchronously. At the same time, it can increase the contact area between the first lifting outriggers 112 and the second lifting outriggers 122 and the seabed, thereby enhancing the support reliability of the first lifting outriggers 112 and the second lifting outriggers 122 and effectively improving the stability of the mining vehicle during the mining process.

[0086] See Figure 4 and Figures 6-8As shown, the mining unit 200 includes a collection pipe 210, a toothed roller 220, a water spray assembly 230, and a flexible skirt 240. The collection pipe 210 is generally flat, with a large square inlet and a small square outlet, the square outlet being connected to the transfer unit 300. A hanger 211 is provided on the collection pipe 210, the upper part of which is connected to the bottom surface of the support platform 121. The toothed roller 220 is located at the square inlet of the collection pipe 210 and is rotatably connected to the lower part of the hanger 211 by a drive (not shown in the figure). The drive is fixedly installed on the hanger 211 and is electrically connected to the motion control unit 500. The water spray assembly 230 includes two booster pumps 231, two T-pipes 232, two water delivery pipes 233, and several spray nozzles. Each nozzle 234 is electrically connected to the dynamic control unit 500, and its outlet is connected to a three-way pipe 232. The two three-way pipes 232 are connected by two water supply pipes 233. The two water supply pipes 233 are respectively fixedly connected to the two long sides of the square inlet of the collection pipe 210. The nozzles 234 are divided into two groups of equal number and symmetrically arranged with the toothed roller 220. Each group of nozzles 234 is connected to each water supply pipe 233 at equal intervals, and its spray direction is inclined towards the toothed roller 220 to spray water towards the seabed. The flexible skirt 240 is symmetrically suspended on the lower side of the two long sides of the support platform 121 and located between the second lifting legs 122, so as to surround the collection pipe 210, the toothed roller 220 and the water spray assembly 230 together with the two second support bodies 123. The second lifting outrigger 122 lowers or retracts, causing the mining unit 200 to approach or rise away from the seabed. After the mining unit 200 approaches the seabed, the motion control unit 500 controls the driver to drive the toothed drum 220 to rotate, thereby agitating the seabed minerals. At the same time, the motion control unit 500 controls the booster pump 231 to draw in the surrounding seawater, which is then pumped into the three-way pipe 232 and pumped through the water supply pipe 233 to two sets of nozzles 234 symmetrically arranged on both sides of the toothed drum 220 to spray out intersecting high-pressure water jets. This works in conjunction with the rotating toothed drum 220 to accelerate the agitation of the seabed minerals, allowing them to enter the collection pipe 210. The flexible skirt 240 is made of non-metallic material and can be inserted into the mud and sand to make full contact with the seabed. Together with the second support body 123, it forms a semi-enclosed space "inside the skirt", effectively preventing the seabed minerals from jumping out of the collection range and reducing or blocking the outward spread of suspended mud generated by the mining disturbance plume. In other words, the "wolf tooth roller 220 + water jet assembly 230" uses a combination of "mechanical agitation and high-pressure jet" to lift seabed minerals, which can efficiently and reliably realize seabed mining operations and greatly improve the efficiency of seabed mining operations. In addition, the flexible skirt 240 and the second support 123 can effectively prevent seabed minerals from jumping out of the collection range, while reducing or blocking the overflow of seabed suspended plumes generated during the mining process, thereby reducing seabed disturbance and reducing the damage of the seabed mining process to the deep-sea environment.

[0087] Multiple mining units 200 are arranged in parallel. In this embodiment, three mining units 200 are arranged in parallel. Multiple mining units 200 can work together simultaneously, which can expand the area of ​​a single mining operation and further improve the efficiency of seabed mining operations.

[0088] See Figure 6 As shown, the transfer unit 300 includes a first conveying pipe 310, a second conveying pipe 320, a suction pump 330, and a third conveying pipe 340 connected in sequence. The inlet of the first conveying pipe 310 is connected to the square outlet of the collection pipe 210. The suction pump 330 is electrically connected to the dynamic control unit 500. The outlet of the third conveying pipe 340 is connected to the temporary storage unit 400. The second conveying pipe 320, the suction pump 330, and the third conveying pipe 340 are all fixedly installed on a bracket 350. The bracket 350 is fixedly connected to the top surface of the support platform 121 to form the body of the mining vehicle. The top of the bracket 350 is provided with a power terminal 351 for connecting an external cable (not shown in the figure) to supply power to the dynamic control unit 500. During mining, the motion control unit 500 controls the suction pump 330 to operate, which sucks the seabed minerals launched by the wolf tooth drum 220 and water spray assembly 230 of the mining unit 200, along with some of the slurry (a mixture of seabed mud and seawater) generated by the jet, into the collection pipe 210 through the square inlet. Then, it is transferred to the temporary storage unit 400 through the first to third transport pipes in sequence.

[0089] In this embodiment, the suction pump 330 is preferably a Venturi pump. The Venturi pump has a large suction force, which can quickly suck the seabed minerals jumping at the square inlet of the collection pipe 210 into the collection pipe 210, thereby improving the transfer efficiency of seabed minerals.

[0090] See Figure 6 As shown, the temporary storage unit 400 includes a storage bin 410 with a quick-connect interface and a cover plate 420 for covering the quick-connect interface. The storage bin 410 is connected to the outlet of the third conveying pipeline 340 and is fixedly installed on the bracket 350. The bottom of the storage bin 410 is provided with an orifice plate (not shown) for seeping mud and sand. A flexible pipe (not shown) extending to the seabed is connected below the orifice plate for directly discharging mud and sand to the seabed. The cover plate 420 is rotatably connected to the storage bin 410 and can be automatically opened when the storage bin 410 is full of seabed minerals to expose the quick-connect interface for connecting to an external pipeline (not shown) with a lifting pump for external ore transportation. That is, the orifice plate can achieve initial separation of seabed minerals and mud and sand, thereby reducing the power waste of lifting useless materials from the seabed to the sea surface. By opening the cover plate 420 to connect the quick-connect interface to the external pipeline with the lifting pump for external ore transportation, the seabed minerals in the storage bin 410 can be quickly unloaded.

[0091] The automatic opening of the cover plate 420 and the connection of the quick-connect interface with the external pipeline with the booster pump can be achieved through the control of the dynamic control unit 500. The relevant technology is known in the industry, so it will not be described in detail here.

[0092] The control unit 500 is mounted on a bracket 350 below the suction pump 330 and the third delivery pipe 340, and includes:

[0093] A stepping and lifting motion control subunit is used to provide power to the traveling unit 100 and control its operation; and

[0094] The mining transfer control subunit is used to provide power to the mining unit 200 and the transfer unit 300 and control their operation.

[0095] Specifically, the stepping and lifting motion control subunit, through cameras (not shown in the figure) installed around the support 350 and sonar (not shown in the figure) below the mining unit 200, combined with software algorithms to predict the working environment, terrain and other conditions of the predetermined seabed mining operation area, controls the first truss 110 (first lifting leg 112) and the second truss 120 (second lifting leg 122) of the traveling unit 100 to raise or lower the overall vehicle height to adapt to the seabed terrain and achieve high-efficiency mining; at the same time, it controls the relative sliding of the first truss 110 (rectangular frame 111) and the second truss 120 (support platform 121) and the alternating support of the first lifting leg 112 and the second lifting leg 122 to achieve stepping forward movement on the seabed; in addition, it uses sonar to detect the distance between the whole vehicle and the mining unit 200 and the seabed to achieve the optimal and safe collection distance (which can ensure collection efficiency and ensure transitional contact with the seabed). The mining transfer control subunit mainly controls the toothed roller 220 and water spray assembly 230 of the mining unit 200 and the suction pump 330 of the transfer unit 300 to realize the harvesting of seabed minerals. At the same time, the collection volume is controlled by the detector (not shown in the figure) installed on the third conveying pipeline 340. When the collection volume reaches the upper limit of the storage bin 410 of the temporary storage unit 400 (i.e., full bin), the collection action is stopped (i.e., the toothed roller 220, water spray assembly 230 and suction pump 330 stop operating), and a transfer signal is sent to the support vessel (not shown in the figure) hovering on the sea surface. The support vessel quickly connects the external pipeline with the lifting pump to the quick-connect interface of the storage bin 410 to transport the ore externally, thereby unloading the seabed minerals in the storage bin 410.

[0096] On the other hand, the present invention provides a method for using a walking-type seabed mining vehicle, specifically including the following steps:

[0097] S01. On the support vessel, slide the support platform 121 to the extreme position at one end of the rectangular frame 111 so that the mining vehicle is in the left working position, and lower all four first lifting legs 112 and four second lifting legs 122 to support the mining vehicle.

[0098] S02. After connecting the external cable to the power terminal 351, use the special crane on the support vessel to lift the mining vehicle into the sea and land it in the predetermined working area for seabed mining, so that the four first lifting legs 112 and the four second lifting legs 122 sit on the bottom at the same time.

[0099] S03. The motion control unit 500 controls the movement of the traveling unit 100 (i.e., the stepping lifting motion control subunit controls the extension and retraction of the four first lifting legs 112 and the four second lifting legs 122) to adjust the height of the four first lifting legs 112 and the four second lifting legs 122 so that the toothed drum 220 and the flexible skirt 240 of the mining unit 200 come into contact with the seabed of the predetermined working area.

[0100] S04. The mining unit 200 is controlled by the motion control unit 500 (that is, the mining rotation motion control unit controls the rotation of the toothed drum 220 and the water spray assembly 230 sprays high-pressure water flow to trigger the seabed minerals (i.e., polymetallic nodules) to jump.

[0101] S05. The motion control unit 500 controls the operation of the transfer unit 300 (i.e., the mining motion control subunit controls the suction pump 330 to work) so as to generate suction at the square inlet of the collection pipe 210, suck the jumping seabed minerals into the collection pipe 210, and transfer them to the storage bin 410 of the temporary storage unit 400 in sequence through the first to third conveying pipes.

[0102] S06. While S04 and S05 are being carried out, the four first lifting outriggers 112 are retracted upwards and the telescopic cylinders 130 are activated by the motion control unit 500, driving the rectangular frame 111 to slide relative to the support platform 121 so that the support platform 121 is located at the extreme position at the other end of the rectangular frame 111, thus placing the mining vehicle in the right work position.

[0103] S07. After mining in the current predetermined work area is completed, the four first lifting outriggers 112 are lowered again to support the mining vehicle on the seabed, and the whole vehicle is raised so that the toothed roller 220 and the flexible skirt 240 are removed from the seabed. At the same time, the four second lifting outriggers 122 are retracted upward to leave the seabed. Through the reverse action of the telescopic cylinder 130, the support platform 121 slides on the rectangular frame 111 and moves the mining unit 200, the transfer unit 300 and the temporary storage unit 400 together to the extreme position at one end of the rectangular frame 111, so that the mining vehicle returns to the left work position and is located above the next predetermined work area.

[0104] S08. Lower the four second lifting outriggers 122, and repeat S03 to S05 to carry out mining in the next designated work area;

[0105] S09. Repeat S06 to S08 to complete mining operations in multiple different predetermined work areas;

[0106] S10. When the storage bin 410 is full of seabed minerals, the mining unit 200 and the transfer unit 300 are stopped by the dynamic control unit 500. The cover plate 420 is automatically opened to connect to the external pipeline with the lifting pump through the quick-connect interface. The seabed minerals are transported to the sea surface through the external pipeline under the action of the lifting pump to complete the unloading.

[0107] S11. Disconnect the quick-connect interface from the external pipeline with the booster pump and close the cover plate 420. Repeat S09 and S10 to continue step mining and unloading.

[0108] In summary, this mining vehicle can move on the seabed by alternating support and relative sliding of the first truss 110 and the second truss 120. The innovative use of the first lifting outrigger 112 and the second lifting outrigger 122 makes it suitable for harsh seabed conditions and complex terrain, and it has a certain degree of adaptive adjustment function to seabed terrain. Furthermore, the "wolf tooth roller 220 + water jet assembly 230" uses a combination of "mechanical agitation and high-pressure jet" to lift seabed minerals, enabling efficient and reliable seabed mining operations. Moreover, the flexible skirt 240 and the second support body 123 work together to form a semi-enclosed space within the skirt, preventing seabed minerals from jumping around while minimizing disturbance to the seabed and reducing the damage to the deep-sea environment caused by plumes generated during seabed mining, thus solving problems existing in the prior art.

[0109] The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the technical solutions of the present invention. Any technical solution that can be implemented based on the above embodiments without creative effort should be considered to fall within the scope of protection of the patent of the present invention.

Claims

1. A walking-type subsea mining vehicle, characterized in that, include: The traveling unit has a first truss and a second truss that can slide relative to each other, which are used for the support and movement of this mining vehicle on the seabed; A mining unit, located below the second truss, is used to collect seabed minerals; A transfer unit, one end of which is connected to the mining unit, is used to transfer seabed minerals; A temporary storage unit, located above the second truss and connected to the other end of the transfer unit, is used to temporarily store seabed minerals. and The motion control unit provides power to the traveling unit, mining unit, and transfer unit and controls their operation. The first truss and the second truss can be alternately supported on the seabed so that the mining vehicle can move on the seabed by sliding relative to each other. The first truss has a rectangular frame, and the four corners of the rectangular frame are respectively connected to the first lifting legs; the second truss has a support platform, and the four corners of the support platform are respectively connected to the second lifting legs; the support platform is slidably mounted on the rectangular frame by the drive of a telescopic hydraulic cylinder, and the width of the support platform is greater than the width of the rectangular frame so that the second lifting legs are located outside the long side of the rectangular frame. The mining unit includes a collection pipe, a toothed roller, and a water spray assembly; The collection pipe is generally flat, with a large square inlet and a small square outlet, and the square outlet is connected to the transfer unit; The collection pipeline is equipped with a hanger, and the upper part of the hanger is connected to the bottom surface of the support platform; The wolf tooth roller is located at the square inlet of the collection pipe and is rotatably connected to the lower part of the hanger through the drive of the driver. The driver is fixedly installed on the hanger and is electrically connected to the motion control unit. The water spray assembly includes two booster pumps, two T-joints, two water supply pipes, and several nozzles. Each booster pump is electrically connected to the dynamic control unit, and its outlet is connected to a T-joint. The two T-joints are connected to each other through two water supply pipes. The two water supply pipes are respectively fixedly connected to the two long sides of the square inlet of the collection pipe. The several nozzles are divided into two groups of equal number and symmetrically arranged with respect to the toothed roller. Each group of nozzles is connected to each water supply pipe at equal intervals, and its spray direction is inclined towards the toothed roller to spray water towards the seabed. The transfer unit includes a first delivery pipe, a second delivery pipe, a suction pump, and a third delivery pipe connected in sequence. The inlet of the first delivery pipe is connected to the square outlet of the collection pipe. The suction pump is electrically connected to the dynamic control unit. The outlet of the third delivery pipe is connected to the temporary storage unit. The second conveying pipe, the suction pump, and the third conveying pipe are all fixedly installed on a bracket, and the bracket is fixedly connected to the top surface of the support platform to form the body of the mining vehicle. The top of the bracket is provided with a power terminal for connecting an external cable to supply power to the motion control unit.

2. The walking-type subsea mining vehicle according to claim 1, characterized in that: The first lifting outrigger includes a first hollow column, a second hollow column, and a first telescopic rod. The first hollow column is fixedly connected to one corner of the rectangular frame. The second hollow column slides into the first hollow column from the lower end of the first hollow column. The upper end of the first telescopic rod is hinged to the top of the first hollow column, and the lower end passes through the first hollow column and extends into the second hollow column to be hinged to the bottom of the latter. The second lifting outrigger includes a third hollow column, a fourth hollow column, and a second telescopic rod. The third hollow column is fixedly connected to one corner of the support platform. The fourth hollow column is slidably inserted into the third hollow column from its lower end. The upper end of the second telescopic rod is hinged to the top of the third hollow column, and the lower end passes through the third hollow column and extends into the fourth hollow column to be hinged to its bottom. One end of the telescopic cylinder is hinged to the middle of the short side of the rectangular frame, and the other end is hinged to the middle of the bottom surface of the support platform; The first telescopic rod, the second telescopic rod, and the telescopic cylinder are electrically connected to the motion control unit.

3. The walking-type subsea mining vehicle according to claim 2, characterized in that: A first support body is connected between the outer bottom of the second hollow column of each pair of first lifting legs on the short side of the rectangular frame; A second support body is connected between the outer bottom of the fourth hollow column of each pair of second lifting legs on the short side of the support platform; The second support is located below the rectangular frame.

4. The walking-type subsea mining vehicle according to claim 3, characterized in that: The mining unit also includes a flexible skirting board; The flexible skirt is symmetrically suspended on the lower side of the two long sides of the support platform and located between the second lifting legs, so as to surround the collection pipe, the spiked roller and the water spray assembly together with the two second support bodies.

5. The walking-type subsea mining vehicle according to any one of claims 1 to 4, characterized in that, The mining units are arranged in parallel in multiples.

6. The walking-type subsea mining vehicle according to claim 4, characterized in that: The temporary storage unit includes a ore storage bin with a quick-connect interface and a cover plate for covering the quick-connect interface; The ore storage bin is connected to the outlet of the third conveying pipeline and is fixedly installed on the support. The bottom of the ore storage bin is provided with a perforated plate for seeping mud and sand. A flexible pipe extending to the seabed is connected below the perforated plate for directly discharging mud and sand to the seabed. The cover plate is rotatably connected to the ore storage bin, and it can be automatically opened when the ore storage bin is full of seabed minerals to expose the quick-connect interface for connecting to an external pipeline with a booster pump for external ore transportation.

7. The walking-type subsea mining vehicle according to claim 6, characterized in that, The dynamic control unit is mounted on a bracket below the suction pump and the third delivery pipe, and includes: A stepping and lifting dynamic control subunit is used to provide power to the traveling unit and control its operation; and The mining and transfer control subunit is used to provide power to the mining unit and the transfer unit and control their operation.

8. A method of using a walking-type subsea mining vehicle as described in claim 6 or 7, characterized in that, Includes the following steps: S01. On the support vessel, slide the support platform to the extreme position at one end of the rectangular frame so that the mining car is in the left working position, and lower all four first lifting legs and four second lifting legs to support the mining car. S02. After connecting the external cable to the power terminal, use the special crane on the support vessel to lift the mining vehicle into the sea and land it in the predetermined working area for seabed mining, so that the four first lifting legs and the four second lifting legs sit on the bottom at the same time. S03. Control the operation of the traveling unit through the dynamic control unit to adjust the height of the four first lifting legs and the four second lifting legs so that the toothed drum and flexible skirt of the mining unit are in contact with the seabed of the predetermined working area. S04. Control the operation of the mining unit through the dynamic control unit to trigger the seabed minerals to jump; S05. The transfer unit is controlled by the dynamic control unit to generate suction at the square inlet of the collection pipe, which sucks the jumping seabed minerals into the collection pipe and then transfers them to the storage bin of the temporary storage unit through the first to third transport pipes in sequence. S06. While S04 and S05 are being performed, the four first lifting outriggers are retracted upwards and the telescopic cylinders are activated by the motion control unit. This drives the rectangular frame to slide relative to the support platform so that the support platform is located at the extreme position at the other end of the rectangular frame, thus placing the mining vehicle in the right work position. S07. After mining in the current designated work area is completed, the four first lifting outriggers are lowered again to support the mining vehicle on the seabed, and the whole vehicle is raised so that the toothed roller and flexible skirt are removed from the seabed. At the same time, the four second lifting outriggers are retracted upward to leave the seabed. Through the reverse action of the telescopic cylinder, the support platform slides on the rectangular frame and moves the mining unit, transfer unit and temporary storage unit together to the extreme position at one end of the rectangular frame, so that the mining vehicle returns to the left work position and is located above the next designated work area. S08. Lower the four second lifting outriggers, and repeat S03 to S05 to carry out mining in the next designated work area; S09. Repeat S06 to S08 to complete mining operations in multiple different predetermined work areas; S10. When the ore storage bin is full of seabed minerals, the mining unit and the transfer unit are stopped by the dynamic control unit. The cover plate is automatically opened to connect to the external pipeline with the lifting pump through the quick-connect interface. The seabed minerals are transported to the sea surface through the external pipeline under the action of the lifting pump to complete the unloading. S11. Disconnect the quick-connect interface from the external pipeline with the booster pump and close the cover. Repeat S09 and S10 to continue step mining and unloading.

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