A deep sea polymetallic nodule mining vehicle

Abstract

The application discloses a deep-sea polymetallic nodule mining vehicle, which comprises a structural frame, a caterpillar walking mechanism arranged at the bottom of the structural frame and used for driving the deep-sea polymetallic nodule mining vehicle to move along a preset direction, a collecting mechanism arranged at the front of the structural frame and used for collecting polymetallic nodules, a conveying and cleaning mechanism used for conducting directional conveying and separating and desliming of the collected polymetallic nodules, a crushing mechanism used for crushing the conveyed ore, a storage mechanism arranged at the tail of the structural frame and used for storing the crushed ore, a plume suppression mechanism used for effectively collecting and processing the plume generated by the deep-sea mining vehicle in the mining process and impurities carried by the manganese nodules, and an environment sensing mechanism used for sensing the deep-sea environment and controlling the caterpillar walking mechanism and the collecting mechanism. The application realizes the integration of collection, screening, cleaning and storage, improves the mining productivity and solves the problem of low collection efficiency of the existing mining vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deep-sea mining, in particular to a deep-sea polymetallic nodule mining vehicle. BACKGROUND

[0002] Deep-sea mineral resources mainly include polymetallic nodules, cobalt-rich crusts and polymetallic sulfides, which are rich in rare metal resources such as cobalt, manganese and nickel, with reserves far exceeding those on land, providing a guarantee for the increasing demand for rare metals in the emerging new energy industry.

[0003] Most of the proven deep-sea mineral resources are polymetallic nodules, which are mainly present on the surface of the 4000-6000m seabed, so the mining of deep-sea mineral resources has very high requirements for related equipment and technology. Among them, the mining vehicle is the first link of the entire polymetallic nodule mining system and is the most critical part of the polymetallic nodule mining operation.

[0004] However, due to the fact that polymetallic nodules are present in the form of particles on the surface of the thousands of meters deep seabed, the water pressure is as high as tens of megapascals, and the seabed geological conditions are complex, with many hills and valleys, the existing deep-sea mining vehicles have the following problems: poor stability on the soft bottom, easy to produce disturbance, resulting in low collection efficiency; limited carrying capacity, unable to realize efficient and continuous collection operation; imperfect electrical control, environmental perception and plume suppression technology, difficult to meet the needs of deep-sea operation; lack of integrated ore processing function, increasing the subsequent processing steps and cost.

[0005] Therefore, there is an urgent need for a deep-sea polymetallic nodule mining vehicle that is compact in structure, complete in function, highly adaptable and environmentally friendly, to improve collection efficiency and reduce the impact on the marine environment. SUMMARY

[0006] The present application aims to overcome at least one of the above-mentioned deficiencies of the prior art and provide a deep-sea polymetallic nodule mining vehicle to solve the problems of low collection efficiency and weak environmental protection of existing mining vehicles.

[0007] Specifically, the present application provides a deep-sea polymetallic nodule mining vehicle, comprising:

[0008] a structural frame;

[0009] a track walking mechanism arranged at the bottom of the structural frame for driving the deep-sea polymetallic nodule mining vehicle to move along a predetermined direction:

[0010] a collection mechanism arranged at the front of the structural frame for collecting polymetallic nodules;

[0011] a conveying and cleaning mechanism for directional conveying and separating the collected polymetallic nodules from the mud;

[0012] A crushing mechanism for crushing the transported ore;

[0013] A storage mechanism arranged at the tail of the structural frame for storing the crushed ore;

[0014] A plume suppression mechanism for effectively collecting and processing the plume and impurities carried by the manganese nodules generated by the deep-sea mining vehicle during the mining process.

[0015] An environment sensing mechanism for sensing the deep-sea environment and controlling the tracked walking mechanism and the collection mechanism.

[0016] The collection mechanism comprises a collection head and an axial flow pump assembly connected in sequence; the conveying and cleaning mechanism comprises a conveying pipe and a cleaning device connected in sequence; the collection head is used for collecting the polymetallic nodules, the axial flow pump assembly is used for conveying the collected polymetallic nodules to the cleaning device through the conveying pipe, and the cleaning device is used for separating and desliming the collected polymetallic nodules.

[0017] Preferably, the collection head is a double-jet collection head; the axial flow pump assembly comprises a ring-shaped jet pipe, a front axial flow pump and a rear axial flow pump, both ends of the ring-shaped jet pipe are connected with the double-jet collection head and the conveying pipe respectively, the front axial flow pump is used for sucking the polymetallic nodules by the double-jet collection head, and the rear axial flow pump is used for conveying the collected polymetallic nodules to the conveying pipe by the ring-shaped jet pipe; the conveying pipe comprises a fixedly connected flexible pipe and a conveying circular pipe connected in sequence.

[0018] Preferably, the conveying and cleaning mechanism is used for directional conveying and separation and desliming of the collected polymetallic nodules; the cleaning device comprises a rectangular cavity, a screen is arranged inside the cavity, both sides of the screen are respectively provided with an opening and a flow guide opening, the opening is connected with the storage mechanism to collect the polymetallic nodules, and the flow guide opening discharges the mud-water mixture; the cleaning device further comprises a roller, a conveying belt, a baffle and a first sprocket; the roller is rotatably arranged at both ends of the conveying direction to drive the conveying belt to move; the conveying belt is sleeved on the rollers at both ends and is circularly moved by the driving of the rollers to convey the ore to the crushing mechanism; a plurality of baffles are arranged on the panel of the conveying belt at intervals to expand the conveying volume of the conveying belt; the first sprocket is installed on one side of the roller and is used in chain transmission with the second sprocket in the crushing mechanism.

[0019] The crushing mechanism is used for crushing the ore after transmission; the crushing mechanism comprises a crushing shell, a bearing seat, a crushing tooth roller, a first hydraulic motor and a second chain wheel; the crushing shell is placed on the upper end of the storage mechanism; the bearing seat is installed on the crushing shell and is used for ensuring normal rotation of the crushing tooth roller; the crushing tooth roller is installed on the bearing seat and is used for crushing the ore entering the crushing shell; the first hydraulic motor is installed on the crushing shell and is used for driving the crushing tooth roller to rotate; and the second chain wheel is installed on one side of the crushing tooth roller and is used for chain transmission with the first chain wheel in the cleaning device.

[0020] Further, the structural framework comprises a main plate framework, a connecting beam, an equipment rack and a mounting base; the connecting beam penetrates and fixedly connects the main plate framework, the equipment rack is installed on the top of the main plate framework, and the mounting base is arranged on the bottom of the main plate framework. The structural framework further comprises a lifting point and a terrain detection device; the lifting point is installed on the top of the main plate framework; and the terrain detection device is hung on the head of the main plate framework and is located below the environment sensing mechanism. The terrain detection device selects a multi-beam sonar to emit a wide-fan acoustic wave to generate a seabed terrain map. The main plate framework is made of high-strength titanium alloy, and the equipment rack is made of aluminum alloy; and the main plate framework and the equipment rack are fixedly connected through welding.

[0021] Further, the track walking mechanism comprises a track, a driving wheel, an induced wheel, a load wheel, a torsion bar, a shock absorber, a speed sensor, a speed reducer and a second hydraulic motor; the track structure is respectively provided with the driving wheel and the induced wheel at two ends, the driving wheel is located at the rear end of the main plate framework of the mining vehicle, and the induced wheel is located at the front end and engages with the inner side of the track, and is used for transmitting driving force. A plurality of load wheels are arranged along the lower side of the track, engage with the inner side of the lower layer of the track, support the weight of the vehicle, and make the track walking more stable. The track is driven by the second hydraulic motor, the second hydraulic motor is fixedly connected to the driving wheel, provides driving force for the driving wheel, drives the speed reducer to output to the track, and ensures that the vehicle can stably move on the seabed. The speed sensor is installed on the main plate framework and is used for monitoring the rotating speed of the driving wheel in real time, facilitating control and adjustment of the driving speed of the vehicle. The speed sensor is placed in the hydraulic motor. The torsion bar is connected with the track through a suspension system; the suspension system refers to the combination of the track side plate, the balance elbow, the shock absorber and the load wheel. There is one shock absorber arranged on each of the left and right sides of any side, the torsion bar is fixedly connected with the balance elbow, and the shock absorber is also hinged to the balance elbow. When an abrupt slope is encountered, the load wheel is stressed to drive the balance elbow, the balance elbow transmits torque to the torsion bar and the shock absorber, the shock absorber is stressed to be compressed, plays a buffering role, the torsion bar is twisted to store torque, and the shock absorption function is realized.

[0022] Further, in the deep-sea polymetallic nodule mining vehicle, the plume suppression mechanism comprises a plume suppression device, a plume suction pipeline, a impurity suction pipeline, a pump body and a solid-liquid separation cabin, the plume suppression device is installed above the track, the water inlet end of the plume suction pipeline is connected with the plume suppression device, the plume suction pipeline is arranged above the track and distributed along the track, the impurity suction pipeline is arranged at the rear of the mining vehicle, the water inlet end of the impurity suction pipeline is connected with the screening and cleaning cabin of the mining vehicle, and the solid-liquid separation cabin is arranged at the front end of the mining vehicle, the water inlet is connected with the water outlet end of the pump body, and the sewage is filtered in the solid-liquid separation cabin and released through the bottom. The plume suppression device of the present application is provided with a plume collection cover near the track of the deep-sea mining vehicle, so that the diffusion of the plume is blocked; the suction pump is arranged, so that the plume can be collected and sucked into the plume collection cover in time; the solid-liquid separation device is arranged, so that the entering solid-liquid mixture is separated, and the problem of pollution of the seabed environment by the granular impurities is avoided.

[0023] Further, the storage mechanism comprises a storage bin, a pressure sensor and a lifting pipeline, the storage bin is located at the tail of the mining vehicle and is in communication with the crushing mechanism, and the pressure sensor is used for weighing the polymetallic nodules in the storage bin.

[0024] Preferably, in the deep-sea polymetallic nodule mining vehicle, the environment sensing mechanism comprises various sensors, a hydraulic control module and an electrical control module, the hydraulic control module and the electrical control module are arranged in the structural frame and are electrically connected with the track walking mechanism, the collecting mechanism and the storage mechanism.

[0025] The present application integrates the collecting mechanism and the environment sensing mechanism in the structural frame, so that the mining vehicle is compact in structure and complete in function, and the collection and transmission of various signals in the mining vehicle are facilitated; the track walking device ensures the stable walking of the mining vehicle on the soft and loose bottom, reduces the disturbance and improves the mining efficiency; the collecting mechanism, the conveying and cleaning mechanism and the crushing and storage mechanism can realize the integration of collection, screening, cleaning and storage, improve the mining capacity, save the processing steps and solve the problem of low collection efficiency of the existing mining vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 The structural schematic diagram of the deep-sea polymetallic nodule mining vehicle provided for the present example is shown.

[0027] Figure 2 The structural schematic diagram of the structural frame provided for the present example is shown.

[0028] Figure 3 The structural schematic diagram of the single-track provided for the present example is shown.

[0029] Figure 4 A structural schematic diagram of a track walking mechanism is provided for this example.

[0030] Figure 5 A structural schematic diagram of a collection mechanism is provided for this example.

[0031] Figure 6 A bottom view of the collection mechanism is provided for this example.

[0032] Figure 7 A structural schematic diagram of a conveying and cleaning mechanism is provided for this example.

[0033] Figure 8 A structural schematic diagram of a conveying and cleaning cabin is provided for this example.

[0034] Figure 9 A structural schematic diagram of a crushing mechanism is provided for this example.

[0035] Figure 10 A structural schematic diagram of a feather flow suppression mechanism is provided for this example.

[0036] Figure 11 A structural schematic diagram of a suction device of a feather flow suppression mechanism is provided for this example.

[0037] Figure 12 A structural schematic diagram of a solid-liquid separation cabin of a feather flow suppression mechanism is provided for this example.

[0038] Figure 13 A structural schematic diagram of a storage mechanism is provided for this example.

[0039] Figure 14 A structural schematic diagram of an environment sensing mechanism is provided for this example.

[0040] Figure 15 A structural schematic diagram of a load head is provided for this example. DETAILED DESCRIPTION

[0041] The drawings in the embodiments, the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout the drawings. The described embodiments are part of the embodiments of the present application, not all embodiments. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application. The embodiments of the present application are described in detail below with reference to the drawings.

[0042] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0043] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0044] Example

[0045] This implementation example provides a deep-sea polymetallic nodule mining vehicle, such as... Figure 1 As shown, it includes: a structural frame 1; a tracked walking mechanism 2, located at the bottom of the structural frame 1, which drives the deep-sea polymetallic nodule mining vehicle to move along the planned path direction; a collection mechanism 3, located at the front of the structural frame 1, which collects polymetallic nodules; a conveying and cleaning mechanism 4, located at the upper part of the structural frame 1, which conveys and cleans the polymetallic nodules; a crushing mechanism 5 and a storage mechanism 6 located at the rear of the structural frame 1, which crush and store the polymetallic nodules; a plume suppression mechanism 7, which is used to effectively collect and process the plumes generated by the deep-sea mining vehicle during the mining process and the impurities carried by the manganese nodules; and an environmental sensing mechanism 8, which is used to sense the deep-sea environment and control the tracked walking mechanism and the collection mechanism.

[0046] Specifically, in the deep-sea mining vehicle, the structural frame includes a main board frame 12, a connecting beam 11, an equipment frame 9, and a mounting base 10; the connecting beam 11 passes through the main board frame 12 and is fixed to the main board frame 12; the equipment frame 9 is installed on the periphery of the main board frame 12; and the mounting base 10 is located at the bottom of the main board frame 12.

[0047] The connecting beam 11 includes a connecting main beam and a connecting secondary beam. The connecting main beam passes through the main board frame 12 and is welded to the main board frame 12 as a whole. The equipment rack 9 protrudes from the main board frame 12, that is, the equipment rack 9 is set in front of the main board frame 12.

[0048] In the implementation process, considering that the deep-sea mining vehicle is in a working environment of high pressure, high corrosion and soft and thin bottom, the material of the main plate frame 12 is high-strength titanium alloy TC4. Specifically, in the actual processing process, the processing form of water or laser cutting can be used, the overall shape of the titanium alloy main frame is designed according to the overall arrangement of the deep-sea mining vehicle, the connection requirements of the components and the stress level distribution, and the titanium plate is cut into the designed shape by water or laser. This processing method can effectively reduce the welding amount, thereby reducing the probability of welding defects and the influence of thermal residual stress. In addition, in order to save the overall cost, the cut titanium alloy material part can be used to manufacture other structural parts.

[0049] At the same time, since the carrying capacity of the equipment rack 9 is designed to be small, the material of the equipment rack is aluminum alloy, thereby effectively reducing the manufacturing cost of the deep-sea mining vehicle.

[0050] In addition, in order to facilitate the installation and later maintenance and replacement of the main plate frame 12 and the equipment rack 9, the main plate frame 12 and the equipment rack 9 are fixed by welding.

[0051] In the implementation process, the lifting point 13 is located directly above the center of mass of the deep-sea mining vehicle, which facilitates the recovery of the deep-sea mining vehicle through the lifting point 13. The structural frame 1 can also be used for the guide device of the optical-electric composite cable laying system. In order to prevent the optical-electric composite cable in the load bearing head from bending or twisting, the guide device plays a role in ensuring the stability and safety of the optical-electric composite cable during laying, docking and bearing. The structure of the load bearing head is shown in Figure 15 The general working principle is that the guide device of the optical-electric composite cable laying system presses the guide ring on the guide disc through the hydraulic rod of the hydraulic system, and the friction force generated overcomes the relative movement of the mining vehicle relative to the load bearing head, thereby protecting the optical-electric composite cable and reducing the sway of the mining vehicle.

[0052] In the installation process, the equipment rack 9 is used to support the collection mechanism. According to the size of the bracket, a plurality of main plate frames can be provided to provide sufficient support force to the bracket. In this embodiment, the bracket is provided with the main plate frame 12 on both sides, each group has four main plate frames, and the two ends of each main plate frame are connected with different positions of the bracket and the mounting base 10 respectively.

[0053] In addition, in order to ensure that the pipelines will not be entangled or worn off, a drag chain can be provided to protect the pipelines.

[0054] Further, in this embodiment, as shown in Figure 3 and Figure 4As shown, the crawler traveling mechanism 2 is composed of a track 14, a driving wheel 15, an induced wheel 16, a load wheel 17, a torsion bar 18, a shock absorber 19, a speed sensor 21, a reducer and a second hydraulic motor 20. The track structure is provided with the driving wheel 15 and the induced wheel 16 at both ends, respectively. The driving wheel 15 is located at the rear end of the main plate frame, and the induced wheel 16 is located at the front end and engages with the inner side of the track, for transmitting driving force. A plurality of load wheels 17 are arranged along the lower side of the track and engage with the inner side of the lower layer of the track, for supporting the weight of the vehicle and making the track travel more smoothly. The track is driven by the second hydraulic motor 20, which is fixedly connected to the driving wheel 15 and provides driving force for the driving wheel, and the driving force is output to the track through the reducer, so as to ensure that the vehicle can travel smoothly on the seabed. The speed sensor is installed on the main plate frame, for monitoring the rotational speed of the driving wheel in real time, so as to facilitate the control and adjustment of the vehicle speed.

[0055] The design of the track includes double rows of induced teeth, which provide stability when the track and the driving wheel engage, prevent the track from slipping off, and ensure smooth travel. In addition, the crawler traveling mechanism adopts a torsion bar 18 suspension structure, which is connected to the track through a suspension system and cooperates with the shock absorber 19 to effectively buffer impact and vibration in rough seabed terrain, thereby improving the adaptability of the vehicle to complex seabed environments.

[0056] In this example, the load wheels 17 are arranged at equal intervals at the bottom of the main plate frame of the mining vehicle, for supporting the weight of the deep-sea polymetallic nodule mining vehicle. The torsion bar 18 is connected to the balance elbow of each load wheel 17, thereby automatically adjusting the load wheel 17 to automatically adapt to the seabed terrain. Since the load wheel 17 has a large diameter, it also provides certain support to the upper track. The track is designed with induced teeth to ensure the position of the load wheel and guide the track 14 to rotate along the correct trajectory, preventing the track from deviating or derailing. The speed of the driving wheel 15 is measured by the speed sensor installed on the main plate frame, and then transmitted to the control mechanism to adjust the speed of the second hydraulic motor 20, thereby achieving speed control of the driving wheel 15.

[0057] In order to reduce the plume as much as possible, a snow shovel-shaped pressing plate 22 is installed under the main plate frame, so that the mixture of sand and other substances collected by the front plume collecting device can be pressed down by the snow shovel-shaped pressing plate 22 when it is discharged from the pollution discharge port as the mining vehicle moves forward, thereby reducing the diffusion of the plume and reducing the impact on the marine environment. Figure 7As shown, the plume suppression mechanism 7 includes a plume suppression device, a plume suction pipeline 46, an impurity suction pipeline 48, a pump body 47, and a solid-liquid separation cabin 53, wherein the plume suppression device is installed above the track 14; the water inlet end of the plume suction pipeline 46 is connected with the plume suppression device, and the plume suction pipeline 46 is arranged above the track 14; the impurity suction pipeline 48 is arranged at the rear of the structural frame 1, and the water inlet end of the impurity suction pipeline 48 is connected with the cleaning cabin 30; the solid-liquid separation cabin 53 is arranged at the front end of the structural frame 1, and the water inlet is connected with the water outlet end of the pump body 47.

[0058] In the specific application, the vehicle adopts elastic suspension, and through the torsion bars arranged in different shaft centers, the torsion bars have small shear stress, the number of suspension parts is small, the maintenance is relatively easy, the vehicle is arranged along the length direction of the vehicle, does not occupy the vertical space, and is beneficial to the low design of the vehicle body.

[0059] Since the track is inevitably affected by the uneven seabed terrain during the movement, through the arrangement of multiple load wheels, the stress borne by the track is dispersed, and the elastic suspension can effectively absorb the impact force during the movement, reduce the vibration phenomenon of the track in the movement, and prolong the service life of the entire walking mechanism.

[0060] To ensure the stable walking of the deep-sea polymetallic nodule mining vehicle on the seabed, in the embodiment, the left and right tracks are arranged symmetrically on the left and right sides of the deep-sea polymetallic nodule mining vehicle, and the total width covered by the left and right tracks is less than the total width of the collection head in the collection mechanism, so that the track walking mechanism cannot cause crushing damage to the ore on the left and right sides of the deep-sea polymetallic nodule mining vehicle, and the waste of ore resources is reduced.

[0061] In addition, to realize the walking function on the deep-sea seabed soft geology, in the embodiment, the track plate adopts a triangular tooth form, multiple load wheels ensure a low ground pressure, and the height of the track tooth can increase the seabed geology penetration depth and improve the shear traction. In the embodiment, a snow shovel-shaped pressing plate 22 is installed to reduce the influence on the marine environment.

[0062] Further, in the embodiment, as shown in the drawings, the collection mechanism includes a collection head 23 and an axial flow pump assembly connected in sequence; the conveying and cleaning mechanism includes a conveying pipe and a cleaning device connected in sequence; the collection head 23 is used for collecting polymetallic nodules, the axial flow pump assembly is used for conveying the collected polymetallic nodules to the conveying and cleaning mechanism 4 through the conveying pipe, and the conveying and cleaning mechanism 4 is used for cleaning and desilting the collected polymetallic nodules.

[0063] Specifically, in the embodiment, the collection head 23 is a double-row jet flow collection head; the axial flow pump assembly includes an annular jet flow pipe 24, a front axial flow pump 25, and a rear axial flow pump 26, two ends of the annular jet flow pipe are connected with the conveying pipe respectively, the front axial flow pump is used for enabling the double-row jet flow collection head to suck the polymetallic nodules; the rear axial flow pump is also used for enabling the annular jet flow pipe to convey the collected polymetallic nodules to the conveying pipe, and the conveying pipe includes a fixed connection hose 27 and a conveying circular pipe 28 connected in sequence.

[0064] In actual application, in order to improve the collection efficiency of the polymetallic nodules, a plurality of collection heads can be arranged side by side, as shown in the figure, two groups of collection mechanisms are arranged side by side in the embodiment, and the two groups of collection mechanisms are symmetrically distributed along the axis of the deep-sea polymetallic nodule mining vehicle and can move independently.

[0065] The collection head 23 in each group of collection mechanisms is a double-row jet flow collection head, which can strip the polymetallic nodules from the sediments and lift them to a certain height through the jet flow impact provided by the front axial flow pump 25, wherein the double-row jet flow collection head 23 of each group of collection mechanisms is welded and fixed with the annular jet flow pipe 24, the rear axial flow pump 26 is installed in the middle of the annular jet flow pipe 24, and the water flow supplied by the rear axial flow pump 26 further lifts the polymetallic nodules upward under the action of the annular flow channel, so as to facilitate the polymetallic nodules to smoothly enter the conveying pipe by overcoming the action of gravity.

[0066] In the embodiment, the two ends of the connection hose 27 are connected with the flange joint through the annular hoop, one end is fixed with the collection head 23 through the flange; and the other end is fixed with the conveying circular pipe 28 through the flange. Since the collection head 23 and the axial flow pump assembly will be angle-adjusted following the terrain, and the adaptive mechanical arm 29 will be stretched and transformed following the terrain, therefore, the connection hose 27 arranged between the axial flow pump assembly and the conveying circular pipe 28 can ensure that the collection head 23, the axial flow pump assembly, and the adaptive mechanical arm 29 can be reliably communicated with the conveying circular pipe 28 regardless of the posture. The conveying circular pipe 28 is fixed on one side of the adaptive mechanical arm 29, which is convenient for disassembly and assembly.

[0067] The conveying and cleaning mechanism 4 is used for directional conveying and separation of the collected polymetallic nodules; the cleaning device includes a cleaning cabin 30, the cleaning cabin 30 is a rectangular cavity, a screen 31 is arranged in the rectangular cavity, combined with the fact that the polymetallic nodules are small in size and large in specific gravity, the screen 31 is used for separating the polymetallic nodules from the mud, and the polymetallic nodules are conveyed to the conveying pipe 28 through the conveying circular pipe 28. Figure 8As shown, the two sides of the screen 31 are respectively provided with an opening 37 and a flow guide opening 36, the opening 37 is communicated with a crushing mechanism 5 to collect the polymetallic nodule, the flow guide opening 36 discharges the mud-water mixture; the cleaning device includes a roller 32, a conveying belt 33, a baffle 34, a first sprocket 35; the roller 32 is rotatably arranged at both ends of the conveying direction to drive the conveying belt to move; the conveying belt 33 is sleeved on the rollers 32 at both ends, and is circularly moved by the driving of the rollers 32, for transporting the ore to the crushing mechanism 5; a plurality of baffles 34 are arranged on the panel of the conveying belt 33, for expanding the conveying volume of the conveying belt; the first sprocket 35 is installed on one side of the roller, for chain transmission with the second sprocket in the crushing mechanism.

[0068] In addition, in the embodiment, the side of the conveying and cleaning mechanism 4 abutting the conveying circular pipe 28 is connected to the conveying circular pipe through a flange joint. As shown, a metal screen 31 is arranged at a suitable position inside the cavity of the conveying and cleaning mechanism 4, the mesh number of the metal screen 31 can be reasonably set according to the size of the polymetallic nodule, and the flow guide opening 36 is a louvered flow guide opening, facilitating the rapid discharge of impurities such as mud. In the collection process, when the polymetallic nodule mixed with impurities enters the desliming device from the conveying pipe, the impurities are discharged from the flow guide opening 36 and the polymetallic nodule is intercepted by the screen 31 after the jet impact of the conveying belt and the filtration of the screen 31, so as to fall into the crushing mechanism.

[0069] Further, in the embodiment, as shown, the crushing mechanism 5 includes a crushing shell 38, a crushing tooth roller 39, a bearing seat 40, a second sprocket 41, and a first hydraulic motor 42; the crushing shell 38 is placed on the upper end of the storage mechanism 6, and the crushed ore falls into the storage bin; the bearing seat 40 is installed on the crushing shell 38, for ensuring the normal rotation of the crushing tooth roller 39; the crushing tooth roller 39 is installed on the bearing seat 40, for crushing the ore entering the crushing shell 38, and the manganese nodule is crushed to a diameter of 2 cm by adjusting the distance between the two crushing tooth rollers 39 and the parameters of the tooth rollers; the first hydraulic motor 42 is installed on the crushing shell, for driving the crushing tooth roller 39 to rotate; the second sprocket 41 is installed on one side of the crushing tooth roller 39, for chain transmission with the first sprocket 35 in the cleaning device.

[0070] Specifically, in the embodiment, as shown in the figure, the storage mechanism 6 is arranged at the tail of the structural frame for storing the collected manganese nodules. In this way, the integration of collection, processing and collection is realized through the collection mechanism, the crushing mechanism and the storage mechanism, and the single mining capacity is improved. The storage mechanism 6 comprises a storage bin 43, a pressure sensor 44 and a lifting pipe 45; the storage bin 43 is located at the tail of the mining vehicle and is in communication with the crushing mechanism; the pressure sensor 44 is used for weighing the multi-metal nodules in the storage bin 43.

[0071] In the embodiment, as shown in the figure, Figure 12 The plume suppression mechanism 7 transports the impurities collected by the collection head 23 and the sediments disturbed and stirred up by the track 14 to the solid-liquid separation device through the impurity suction pipe 48 through the suction port 49. In the solid-liquid separation device, the spraying device 50 sprays a flocculating agent to preliminarily separate the impurities and water. Then, under the action of the filtering device 51, the impurities are filtered out and compressed to form a filter cake. The filter cake is released to the seabed through the release port 52 in front of the box body, and in combination with Figure 9 The filtered water enters the circulating pipeline from the water outlet and finally enters the storage tank for subsequent ore lifting.

[0072] Further, in the embodiment, the sensing control structure comprises a hydraulic control module and an electrical control module; the hydraulic control module and the electrical control module are both arranged in the structural frame. In the embodiment, a variety of sensors are provided, such as a camera 54, a water body monitor 55, a flow rate monitor 56 and a terrain detection device 57, wherein the terrain detection device 57 is selected from a multi-beam sonar. The variety of sensors are beneficial to real-time monitoring of the environment and internal state of the deep-sea polymetallic mining vehicle.

[0073] In this way, the deep-sea polymetallic nodule mining vehicle provided by the embodiment realizes the functions of efficient and low-disturbance mining through the double-row jet and annular jet integrated modular collection mechanism, reduces the mining cost and the damage to the environment; through the arrangement of the double or multiple collection mechanisms, the collection width is expanded and the collection efficiency is improved; through the track walking mechanism, the deep-sea heavy-load mining operation platform is stably walked on the rare and soft bottom; through the self-adaptive collection device, the collection head can be self-adaptively adjusted according to the terrain, and the collection efficiency of the polymetallic nodules is improved; through the conveying and cleaning mechanism, the quality of the minerals is improved, and through the ore crushing and storage mechanism, the lifting of the minerals is further facilitated, so that the mining process is more sustainable; through the sensing control mechanism integrated with the module, the surrounding environment and the state of the mining vehicle are monitored in real time, which is convenient for maintenance; through the arrangement of the plume suppression module, the green mining of the minerals is maximally ensured.

[0074] The above embodiments are only used to illustrate the technical solutions of the present application but not to limit the present application. Although the present application has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the present application. Those skilled in the art can also make other changes in the design of the present application within the spirit of the present application, as long as the technical effects of the present application are not deviated. The changes made according to the spirit of the present application should be included in the scope of protection of the present application.

Claims

1. A deep sea polymetallic nodule mining vehicle, characterized in that, Include: The structural framework (1), Crawler traveling mechanism (2): provided in the bottom of the structural framework (1), for driving mining car to move; Collecting mechanism (3): provided in the front of the structural framework (1), for collecting polymetallic nodule; Conveying and cleaning mechanism (4): provided in the upper part of the structural framework (1), for conveying and cleaning polymetallic nodule; Crushing mechanism (5): provided in the rear of the structural framework (1), for crushing polymetallic nodule; Storage mechanism (6): provided in the rear of the crushing mechanism (5), for storing polymetallic nodule; Plume suppression mechanism (7): provided in the lower layer of the structural framework (1), for collecting and processing plume and impurities carried by manganese nodule generated in the mining process; Environment sensing mechanism (8): provided above the front end of the structural framework (1), for sensing deep sea environment, and linked with the crawler traveling mechanism (2) and the collecting mechanism (3) in communication connection; The collecting mechanism (3) includes collecting head (23), axial flow pump assembly connected in sequence, the conveying and cleaning mechanism (4) includes conveying pipe and cleaning device connected in sequence; The collecting head (23) is used for collecting polymetallic nodule; The axial flow pump assembly includes annular jet pipe (24), front side axial flow pump (25) and rear side axial flow pump (26); both ends of the annular jet pipe (24) are connected with the collecting head (23) and the conveying pipe respectively; the front side axial flow pump (25) is used for making the collecting head (23) to suck polymetallic nodule; the rear side axial flow pump (26) is used for making the annular jet pipe (24) to convey collected polymetallic nodule to the conveying pipe; The track walking mechanism (2) comprises a track (14), a driving wheel (15), an induction wheel (16), a load wheel (17), a torsion bar (18), a shock absorber (19), a speed sensor (21), a speed reducer and a second hydraulic motor (20); the driving wheel (15) is located at the rear end of the structural frame (1), the induction wheel (16) is located at the front end of the structural frame (1), and the driving wheel (15) and the induction wheel (16) are respectively engaged with the inner side of the track (14); a plurality of load wheels (17) are arranged along the lower side of the track (14) and are engaged with the inner side of the lower layer of the track (14); the torsion bar (18) is connected with the balance elbow of the plurality of load wheels (17); the second hydraulic motor (20) is fixedly connected with the driving wheel (15), provides driving force for the driving wheel (15), and drives the speed reducer to output to the track (14); the speed sensor is installed on the structural frame (1) and is used for monitoring the rotating speed of the driving wheel (15) in real time, so as to facilitate control and adjustment of the driving speed; the plume suppression mechanism (7) comprises a plume suppression device, a plume suction pipeline (46), a impurity suction pipeline (48), a pump body (47) and a solid-liquid separation cabin (53); the plume suppression device is installed above the track (14); the water inlet end of the plume suction pipeline (46) is connected with the plume suppression device, and the plume suction pipeline (46) is arranged above the track (14); the impurity suction pipeline (48) is arranged at the rear part of the structural frame (1), and the water inlet end of the impurity suction pipeline (48) is connected with the cleaning cabin (30); the solid-liquid separation cabin (53) is arranged at the front end of the structural frame (1), and the water inlet is connected with the water outlet end of the pump body (47).

2. The deep sea polymetallic nodule mining vehicle according to claim 1, characterized in that, The conveying pipe comprises a fixedly connected connecting hose (27) and a conveying circular pipe (28) connected in sequence; the cleaning device comprises a cleaning cabin (30), the cleaning cabin (30) is a rectangular cavity, a screen (31) is arranged in the rectangular cavity, two sides of the screen (31) are respectively provided with an opening (37) and a flow guide opening (36), the opening (37) is connected with the storage mechanism (6) to collect the polymetallic nodule, and the flow guide opening (36) is used for discharging the mud-water mixture.

3. The deep sea polymetallic nodule mining vehicle according to claim 2, characterized in that, The cleaning device further comprises a roller (32), a conveying belt (33), a baffle (34) and a first chain wheel (35); the roller (32) is rotatably arranged at both ends of the conveying direction and is used for driving the conveying belt (33) to move; the conveying belt (33) is sleeved on the rollers (32) at both ends, the conveying belt (33) is circularly moved through the driving of the rollers (32) and is used for conveying the ore to the crushing mechanism (5); a plurality of baffles (34) are arranged on the panel of the conveying belt (33) at intervals; and the first chain wheel (35) is installed on one side of the roller (32) and is chain driven with the crushing mechanism (5).

4. The deep sea polymetallic nodule mining vehicle according to claim 3, characterized in that, The crushing mechanism (5) comprises a crushing shell (38), a bearing seat (40), a crushing tooth roller (39), a first hydraulic motor (42) and a second chain wheel (41); the crushing shell (38) is arranged at the upper end of the storage mechanism (6); the bearing seat (40) is installed on the crushing shell (38) and is used for ensuring normal rotation of the crushing tooth roller (39); the crushing tooth roller (39) is installed on the bearing seat (40) and is used for crushing ores entering the crushing shell (38); the first hydraulic motor (42) is installed on the crushing shell (38) and is used for driving the crushing tooth roller (39) to rotate; and the second chain wheel (41) is installed on one side of the crushing tooth roller (39) and is used for chain transmission with the first chain wheel (35).

5. The deep sea polymetallic nodule mining vehicle according to claim 1, characterized in that, The structural frame (1) comprises a main plate frame (12), a connecting beam (11), an equipment rack (9) and a mounting base (10); the connecting beam (11) penetrates and fixedly connects the main plate frame (12), the equipment rack (9) is installed on the top of the main plate frame (12); and the mounting base (10) is arranged at the bottom of the main plate frame (12).

6. The deep sea polymetallic nodule mining vehicle according to claim 5, characterized in that, The structural frame (1) further comprises a lifting point (13) and a terrain detection device (57); the lifting point (13) is installed on the top of the main plate frame (12); and the terrain detection device (57) is hoisted on the head of the main plate frame (12) and is located below the environment sensing mechanism (8).

7. The deep sea polymetallic nodule mining vehicle according to claim 1, characterized in that, The storage mechanism (6) comprises a storage bin (43), a pressure sensor (44) and a lifting pipeline (45); the storage bin (43) is arranged at the tail of the structural frame (1) and is in communication with the crushing mechanism (5); the pressure sensor (44) is used for weighing the multi-metal nucleus in the storage bin (43); the environment sensing mechanism (8) comprises a plurality of sensors, a hydraulic control module and an electrical control module; the hydraulic control module and the electrical control module are arranged in the structural frame (1) and are electrically connected with the tracked walking mechanism (2), the collecting mechanism (3) and the storage mechanism (6).

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