A Suspended Negative Pressure Mining Robot and Its Mining Method

Abstract

This invention discloses a suspended negative pressure mining robot and its mining method. The suspended negative pressure mining robot includes a suspended robot body, with a negative pressure mining device and a storage bin for storing ore at its bottom. The negative pressure mining device includes a negative pressure collection head for adsorbing ore from the seabed and delivering it to the storage bin. There is a pair of negative pressure collection heads, symmetrically arranged. The storage bin is located between the pair of negative pressure collection heads, and a ore delivery channel is provided between the storage bin and the negative pressure collection heads to connect them. This invention also discloses a mining method using the above-mentioned suspended negative pressure mining robot. This invention has advantages such as enabling suspended negative pressure mining in the deep sea, high mining efficiency, good overall stability, and minimal impact on the seabed environment.

Description

Technical Field

[0001] This invention relates to the field of deep-sea mining technology, specifically to a suspended mining robot and mining method. Background Technology

[0002] As terrestrial mineral resources gradually deplete, interest in seabed mineral resources is growing. The deep seabed contains abundant mineral resources, such as manganese nodules, hydrothermal sulfides, and cobalt-rich crusts. Currently, the electronics, energy, and aerospace industries have significant demands for mineral resources, which play a crucial role in the development of modern industry. Due to the extremely harsh environment of the deep sea, characterized by high pressure, low temperature, darkness, and strong corrosiveness, mining robots must possess extremely high reliability and durability to meet the demands of operating under extreme conditions.

[0003] Existing deep-sea mining robots are mostly tracked robots, which have poor environmental adaptability and self-adjustment capabilities. They struggle to operate within a suitable working range and are prone to getting stuck in soft soil. For adsorption mining, they are more likely to absorb other impurities, resulting in a low amount of ore absorbed per unit time and low ore collection efficiency. Furthermore, existing adsorption mining robots are unable to effectively collect larger and heavier ores, preventing the effective development and utilization of many deep-sea mineral resources. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology and provide a suspended negative pressure mining robot and its mining method that can perform suspended negative pressure mining in the deep sea, has high mining efficiency, good overall stability and little impact on the seabed environment.

[0005] To solve the above-mentioned technical problems, the technical solution proposed by this invention is as follows:

[0006] A suspended negative pressure mining robot includes a suspended robot body. The bottom of the suspended robot body is provided with a negative pressure mining device and a storage bin for storing ore. The negative pressure mining device includes a negative pressure collection head for adsorbing ore from the seabed and delivering it to the storage bin. There is a pair of negative pressure collection heads, which are symmetrically arranged. The storage bin is located between the pair of negative pressure collection heads, and a ore delivery channel is provided between the storage bin and the negative pressure collection heads for connecting the storage bin and the negative pressure collection heads. This invention relates to a suspended negative pressure mining robot capable of collecting ore from the deep seabed while suspended. It exhibits excellent environmental adaptability. A pair of negative pressure collection heads are symmetrically positioned, balancing the robot's posture and enabling efficient ore collection. This avoids excessive ore residue after a round of collection by the front end, allowing for supplementary collection by the rear-end miner. The ore delivery channel connects to the mining space at one end and to the storage bin at the other. The negative pressure collection heads absorb the ore, which then flows through the mining space into the delivery channel and finally into the storage bin, ensuring efficient ore storage. This process realizes the entire ore collection and storage process, significantly improving mining efficiency.

[0007] Preferably, in the aforementioned suspended negative pressure mining robot, the negative pressure collection head includes a rotatable adsorption cylinder. The adsorption cylinder contains a negative pressure chamber capable of creating negative pressure. The outer surface of the adsorption cylinder has several adsorption nozzles communicating with the negative pressure chamber for adsorbing ore. The adsorption nozzles, through the rotation of the adsorption cylinder, transport the ore from the ore delivery channel to the ore storage bin. Ore can be adsorbed and detached through pressure changes within the adsorption nozzles. During adsorption operations, the mining robot levitates using its propeller and aligns the adsorption nozzles on the adsorption cylinder with the ore strip below. It is not necessary for the nozzles to be completely attached to the ore surface. The negative pressure suction of the nozzles adsorbs the ore onto them. When the adsorption nozzles rotate with the adsorption cylinder to the ore delivery channel side, the negative pressure environment of the nozzles is cut off, and the ore enters the ore storage bin through the ore delivery channel. During ore collection, the mining robot does not need to have extensive contact with the seabed, greatly reducing the damage to the seabed ecosystem and improving the effectiveness of marine environmental protection.

[0008] In the aforementioned suspended negative pressure mining robot, preferably, the suction nozzles of a pair of negative pressure collection heads are arranged in a staggered manner. The suction nozzles on one side of the negative pressure collection head are spaced apart, while the suction nozzles on the other side are positioned at positions corresponding to the middle intervals of the suction nozzles on the aforementioned negative pressure collection heads. This staggered arrangement of the suction nozzles balances the posture, reduces the probability of ore being lost, and improves mining efficiency.

[0009] Preferably, in the aforementioned suspended negative pressure mining robot, the negative pressure mining device further includes a rotating wheel assembly for adsorbing or detaching ore in conjunction with the negative pressure collection head. The rotating wheel assembly is located around the negative pressure collection head and includes multiple rotating wheels capable of clockwise or counterclockwise rotation, arranged outside the adsorption nozzle. Ore in seabed soil is often covered with soil and impurities. The rotating wheel assembly can remove the soil and impurities from the ore surface by rotating, facilitating more efficient ore collection by the negative pressure collection head. Furthermore, for larger ores, the collection effect of the negative pressure collection head alone is poor. Using the rotating wheel assembly in conjunction with the negative pressure collection head can handle the collection of large-particle, heavy-weight ores, enabling them to be smoothly adsorbed and detached, further improving mining efficiency and quality.

[0010] Preferably, in the aforementioned suspended negative pressure mining robot, the rotating wheel assembly further includes a rotating motor and a telescopic component that can drive the rotating wheel to extend outward or retract inward. The rotating motor is connected to the rotating shaft of the rotating wheel, and the telescopic component is connected to the rotating wheel. Two adjacent rotating wheels form a rotating wheel group, and the two rotating wheels of the rotating wheel group are spaced apart on both sides of the outside of the suction nozzle. The two rotating wheels in the same rotating wheel group rotate in opposite directions. The rotating wheel group closer to the ore feeding channel can guide the ore between them from the inner suction nozzle to the outer direction through the rotation of the two rotating wheels. The rotating wheel group closer to the seabed can guide the ore between them from the outer direction to the inner suction nozzle through the opposite rotation of the two rotating wheels. The telescopic component can be used to extend or retract the steering wheel as needed, so that the rotating wheel assembly can be flexibly adjusted and still function when the height of the suspended negative pressure mining robot changes slightly. Two adjacent rotating wheels are paired together to form a rotating wheel group. The rotating wheel group can cooperate with the suction nozzle between them. For the outer suction nozzle near the seabed, the rotating wheel group can assist the suction nozzle in adsorbing larger and heavier ore particles. When the ore particles are large and heavy, the suction force of the suction nozzle may not be sufficient to lift the ore from the soil surface. In this case, the rotating wheels on both sides of the suction nozzle rotate in opposite directions from the outside to the inside, giving the ore an upward driving force, so that the suction nozzle can better capture the ore. For the inner suction nozzle near the ore delivery channel, the rotating wheel group can assist in detaching the ore from the suction nozzle. When the ore is too heavy or too much, resulting in insufficient power to send the ore through the ore delivery channel to the storage bin, the rotating wheels rotate in opposite directions from the outside to the inside, giving the ore on the suction nozzle an outward force and acting as a guide, so that it detaches from the suction nozzle and enters the ore delivery channel.

[0011] Preferably, in the aforementioned suspended negative pressure mining robot, the end of the suction nozzle is provided with a flexible adsorption mechanism that can move within a certain range and cooperate with the suction nozzle to capture ore within that range. The center of the flexible adsorption mechanism has an adsorption port communicating with the suction nozzle. The flexible adsorption mechanism includes a flexible sleeve and a mechanical moving part for driving the flexible sleeve to move within a certain range. The side wall of the flexible sleeve has at least one mounting cavity, and the mechanical moving part is disposed within the mounting cavity. Because the mechanical moving part is disposed in the mounting cavity of the side wall of the flexible sleeve, and its sides are wrapped by a flexible sleeve made of flexible material such as silicone, when the mechanical moving part moves, it drives the flexible sleeve surrounding it to move in the corresponding direction, thereby expanding the effective range of the suction nozzle. Combined with the suction nozzle and rotating wheel assembly, this further improves the adsorption effect.

[0012] Preferably, in the aforementioned suspended negative pressure mining robot, the moving mechanical components include a rotating base, a movable robotic arm, and an ultrasonic sensor. One end of the rotating base is fixed to the end of the suction nozzle, and the other end is connected to one end of the movable robotic arm. The ultrasonic sensor is located at the other end of the movable robotic arm. The rotating base allows for rotation, increasing the range of motion of the moving mechanical components. Combined with the movable robotic arm, this enhances flexibility. The ultrasonic sensor can detect the condition of the seabed ore, thereby guiding the moving mechanical components towards the presence of ore, effectively improving mining efficiency and accuracy.

[0013] Preferably, in the aforementioned suspended negative pressure mining robot, the side wall of the suction nozzle is provided with a cable routing channel, the rotating base is located at the cable routing channel, and the cables of the moving mechanical parts are connected to the controller through the cable routing channel. The cable routing channel allows various cables of the moving mechanical parts to pass through, so that they can be connected to the controller or power supply.

[0014] Preferably, in the aforementioned suspended negative pressure mining robot, the movable robotic arm comprises a first robotic arm, a second robotic arm, and a third robotic arm. One end of the first robotic arm is connected to the rotating base, and the other end is connected to one end of the second robotic arm. The other end of the second robotic arm is connected to one end of the third robotic arm. The ultrasonic sensor is located at the other end of the third robotic arm. The first robotic arm is equipped with a first motor that drives its movement, the second robotic arm is equipped with a second motor that drives its movement, and the third robotic arm is equipped with a third motor that drives its movement. The rotating base is equipped with a rotary motor that drives its rotation. The rotary motor drives the rotating base to rotate, the first motor drives the first robotic arm to move in a first direction, the second motor drives the second robotic arm to move in a second direction, and the third motor drives the third robotic arm to move in a third direction. This combination of multi-directional, multi-degree-of-freedom movement significantly improves the flexibility of the movable robotic arm, thereby effectively enhancing the flexible adsorption effect of the flexible adsorption mechanism, enabling it to flexibly adjust its position to adsorb ore at corresponding locations.

[0015] Preferably, in the aforementioned suspended negative pressure mining robot, a position adjustment mechanism for adjusting the position of the negative pressure sampling head is provided between the negative pressure sampling head and the suspended robot body. The position adjustment mechanism includes a first hydraulic cylinder, a first connecting rod, and a first hinged rod. The movable end of the first hydraulic cylinder is connected to one end of the first connecting rod. One end of the first hinged rod is hinged to the negative pressure sampling head, and the other end is hinged to the other end of the first connecting rod. The position adjustment mechanism also includes a second hydraulic cylinder, a second connecting rod, and a second hinged rod. The movable end of the second hydraulic cylinder is connected to one end of the second connecting rod. One end of the second hinged rod is hinged to the negative pressure sampling head, and the other end is hinged to the other end of the second connecting rod. The movement directions of the movable ends of the first and second hydraulic cylinders are parallel to each other. The position adjustment mechanism allows for adjustment of the vertical height and horizontal position of the negative pressure sampling head to adapt to different seabed environments and small changes in height, ensuring the negative pressure sampling head is in the optimal working position, making it more flexible and further improving mining efficiency.

[0016] Preferably, in the aforementioned suspended negative pressure mining robot, the bottom of the ore storage bin is equipped with an opening mechanism that discharges the ore inside the bin to the outside. The opening mechanism includes a movable baffle and an opening drive cylinder. The movable baffle is located at the bottom of the ore storage bin, and the opening drive cylinder is fixed to the suspended robot body, with its actuating end connected to the movable baffle. The ore storage bin can be detached via the movable baffle at the bottom of the robot, and the movable baffle moves via the opening drive cylinder, thereby quickly discharging the collected ore to facilitate the next round of mining operations.

[0017] Preferably, the aforementioned suspended negative pressure mining robot further includes a height detection mechanism. This mechanism comprises a height detector for acquiring height data and an insertion head for inserting into the soil. The insertion head is located at the bottom of the height detection mechanism. Two mechanical claws are also provided at the bottom of the suspended robot body, symmetrically positioned next to a pair of negative pressure acquisition heads. When the suspended negative pressure mining robot is performing mining operations, the insertion head of the height detection mechanism is inserted into the soil. Data from the height detector is fed back to the controller for fine-tuning of the robot's height. If the height of the mining robot is unsuitable, it may affect its mining efficiency. In this case, the position of the negative pressure acquisition head can be adjusted by the position adjustment mechanism to bring it to the optimal working range, thereby improving mining efficiency, stability, and environmental adaptability. Sometimes, impurities, seaweed, or rocks may get stuck in the negative pressure acquisition head. The mechanical claws clean these impurities, seaweed, and rocks to prevent them from affecting normal mining operations.

[0018] As a general technical concept, the present invention also provides a mining method using the above-mentioned suspended negative pressure mining robot, comprising the following steps:

[0019] S1, a suspended negative pressure mining robot is carried by a relay base station to the seabed ore zone;

[0020] S2, the suspended negative pressure mining robot moves and floats above the seabed ore belt after leaving the relay base station;

[0021] S3. A pair of negative pressure sampling heads start working simultaneously, aiming the negative pressure sampling heads at the seabed ore zone to begin adsorption. The ore is adsorbed onto the negative pressure sampling heads and then sent to the ore conveying channel. The ore enters the ore storage bin through the ore conveying channel.

[0022] S4. After the mining is completed, the suspended negative pressure mining robot moves to the transfer station and delivers the ore in the storage bin to the transfer station, and then begins the next round of mining work.

[0023] The aforementioned mining method collects ore from the deep seabed under suspended conditions, is less affected by seabed topography, and can be carried out in areas with complex seabed topography. It has good environmental adaptability. During the ore collection process, the mining robot does not need to make extensive contact with the seabed, which greatly reduces the damage to the seabed ecosystem caused by the mining robot and improves the efficiency of marine environmental protection. A pair of negative pressure collection heads have high working efficiency. They adsorb the ore and store it in the storage bin through the ore delivery channel, realizing the entire process of ore collection and storage. After one round of collection, it can go to the transfer station to discharge the ore and start the next round of mining, resulting in high mining efficiency.

[0024] Compared with the prior art, the advantages of the present invention are as follows:

[0025] This invention relates to a suspended negative pressure mining robot capable of collecting ore from the deep seabed while suspended. It exhibits excellent environmental adaptability. The symmetrical arrangement of a pair of negative pressure collection heads balances the robot's posture and efficiently collects ore, preventing excessive ore residue after a round of collection. The rear-end miner can then perform supplementary collection. During collection, the negative pressure collection heads are aligned with the ore belt below, and suction forces the ore onto the heads. Since the ore delivery channel connects to the mining space at one end and the storage bin at the other, the collected ore is transported through the mining space into the delivery channel and then into the storage bin, ensuring efficient ore storage. This process realizes the entire ore collection and storage process, improving mining efficiency and offering advantages such as good overall stability.

[0026] The mining method of this invention collects ore from the deep seabed under suspended conditions, is less affected by seabed topography, and can be carried out in areas with complex seabed topography. It has good environmental adaptability. During the ore collection process, the mining robot does not need to make extensive contact with the seabed, which greatly reduces the damage to the seabed ecosystem caused by the mining robot and improves the efficiency of marine environmental protection. A pair of negative pressure collection heads have high working efficiency. They adsorb the ore and store it in the storage bin through the ore delivery channel, realizing the entire process of ore collection and storage. After one round of collection, it can go to the transfer station to discharge the ore and start the next round of mining, resulting in high mining efficiency. Attached Figure Description

[0027] Figure 1 This is a three-dimensional structural diagram of the suspended negative pressure mining robot of Example 1.

[0028] Figure 2 This is a front view of the suspended negative pressure mining robot of Example 1.

[0029] Figure 3 yes Figure 2 A magnified view of part A in the image.

[0030] Figure 4 This is a three-dimensional structural diagram of the negative pressure mining device in Example 1.

[0031] Figure 5 This is a three-dimensional structural diagram of the negative pressure acquisition head in Example 1.

[0032] Figure 6 This is a schematic diagram of the main structure of the negative pressure acquisition head in Example 1.

[0033] Figure 7 This is a schematic diagram of the rotating wheel assembly when it is retracted in Example 1.

[0034] Figure 8 This is a schematic diagram of the rotating wheel assembly when it is extended in Embodiment 1.

[0035] Figure 9 This is a three-dimensional structural diagram of the suspended negative pressure mining robot of Example 2.

[0036] Figure 10 yes Figure 9 A magnified view of part B in the image.

[0037] Figure 11 This is a schematic diagram of the flexible adsorption mechanism in Example 2 (the flexible adsorption mechanism is not fixed to the adsorption nozzle).

[0038] Figure 12 This is a schematic diagram of the flexible adsorption mechanism in Example 2, where the flexible sleeve is omitted.

[0039] Figure 13 This is a schematic diagram of the structure when the adsorption nozzle and the flexible adsorption mechanism are connected in Example 2.

[0040] Figure 14 This is a schematic diagram of the structure of the movable robotic arm in Example 2.

[0041] Figure 15 This is a three-dimensional structural diagram of the slip ring in Example 2.

[0042] Legend:

[0043] 1. Suspended robot body; 2. Negative pressure mining device; 21. Negative pressure collection head; 211. Adsorption cylinder; 212. Adsorption nozzle; 213. Adsorption port; 214. Flexible sleeve; 2141. Mounting cavity; 215. Rotating base; 2151. Rotary motor; 216. Movable robotic arm; 2161. First robotic arm; 2162. Second robotic arm; 2163. Third robotic arm; 2164. First motor; 2165. Second motor; 2166. Third motor; 217. Ultrasonic sensor; 218. 219. Cable routing channel; 22. Slip ring; 22. Rotating wheel assembly; 221. Rotating wheel; 222. Telescopic component; 223. Rotating motor; 23. Position adjustment mechanism; 231. First hydraulic cylinder; 232. First connecting rod; 233. First hinge rod; 234. Second hydraulic cylinder; 235. Second connecting rod; 236. Second hinge rod; 3. Ore storage bin; 31. Movable baffle; 32. Opening drive cylinder; 4. Ore delivery channel; 5. Height detection mechanism; 51. Height detector; 52. Insertion head; 6. Mechanical claw. Detailed Implementation

[0044] To facilitate understanding of the present invention, the present invention will be described more fully and in detail below with reference to the accompanying drawings and preferred embodiments, but the scope of protection of the present invention is not limited to the following specific embodiments.

[0045] Example 1:

[0046] like Figures 1 to 8 As shown, the suspended negative pressure mining robot of this embodiment includes a suspended robot body 1. The bottom of the suspended robot body 1 is equipped with a negative pressure mining device 2 and a storage bin 3 for storing ore. The negative pressure mining device 2 includes a negative pressure collection head 21 for adsorbing ore from the seabed and delivering it to the storage bin 3. There is a pair of negative pressure collection heads 21, symmetrically arranged. The storage bin 3 is located between the pair of negative pressure collection heads 21, and a ore delivery channel 4 is provided between the storage bin 3 and the negative pressure collection heads 21 for connecting them. Specifically, the storage bin 3 is located in the middle of the suspended robot body 1, and the pair of negative pressure collection heads 21 are located on both sides of the storage bin 3, connected to the storage bin 3 via the ore delivery channel 4. The ore delivery channel 4 is specifically a channel located between the negative pressure collection heads 21 and the bottom frame of the suspended robot body 1. The upper part of the ore delivery channel 4 is the frame surface and an outwardly extending arc-shaped protective shell, and the lower part of the ore delivery channel 4 is the negative pressure collection head 21. During operation, the negative pressure collection head 21 rotates to the side of the seabed mining space to adsorb the ore on the seabed. When it rotates to the side of the ore delivery channel 4, the ore falls off the negative pressure collection head 21 and enters the ore delivery channel 4. The rotation of the negative pressure collection head 21 generates an internal water flow in the ore delivery channel 4 towards the ore storage bin 3. Together with other collection devices, the ore in the ore delivery channel 4 is delivered to the ore storage bin 3.

[0047] In this embodiment, the levitation robot body 1 of the levitation negative pressure mining robot includes a frame. The frame is equipped with a horizontal motion thruster, which can control the mining robot to move forward, backward, or turn, enabling it to move horizontally in all directions. The frame is also equipped with a levitation motion thruster, which can control the mining robot to levitate, enabling it to levitate up and down. In addition, in order to ensure the normal operation of the levitation robot body 1, the frame is equipped with devices such as batteries, motors, control cabins, water pumps, and buoyancy materials. It is also equipped with devices such as ranging sonar, cameras, beacons, inertial navigation, and controllers. These devices are all existing technologies, so their working principles and specific structures will not be described in detail.

[0048] In this embodiment, the negative pressure collection head 21 includes a rotatable adsorption cylinder 211. The adsorption cylinder 211 contains a negative pressure chamber capable of generating negative pressure. The outer surface of the adsorption cylinder 211 is provided with several adsorption nozzles 212 that communicate with the negative pressure chamber for adsorbing ore. The adsorption nozzles 212, through the rotation of the adsorption cylinder 211, transport the ore from the ore delivery channel 4 to the ore storage bin 3. Specifically, the mining motor provides a power source for the adsorption cylinder 211 and controls its rotation. The negative pressure chamber provides negative pressure adsorption force, which adsorbs the ore through the adsorption nozzles 212. The position of the adsorption nozzles 212 changes with the rotation of the adsorption cylinder 211. By adjusting the adsorption force (the degree of communication with the negative pressure chamber) of the adsorption nozzles 212 at different positions, ore can be adsorbed on one side of the mining space and detached on the other side of the ore delivery channel 4.

[0049] In this embodiment, the suction nozzles 212 of a pair of negative pressure sampling heads 21 are arranged alternately. Specifically, the suction nozzles 212 of the front negative pressure sampling head 21 are arranged at intervals, that is, there is a gap between adjacent suction nozzles 212. The suction nozzles 212 of the rear negative pressure sampling head 21 are also arranged at intervals, but their suction nozzles 212 are arranged between the intervals of the suction nozzles 212 of the front negative pressure sampling head 21.

[0050] In this embodiment, the negative pressure mining device 2 further includes a rotating wheel assembly 22 for adsorbing or removing ore in conjunction with the negative pressure collecting head 21. The rotating wheel assembly 22 is disposed around the negative pressure collecting head 21 and includes multiple rotating wheels 221 that can rotate clockwise or counterclockwise. The multiple rotating wheels 221 are arranged outside the suction nozzle 212. Specifically, the rotating wheel assembly 22 is arranged around the negative pressure collecting head 21, and each rotating wheel 221 can rotate around its own axis.

[0051] In this embodiment, the rotating wheel assembly 22 further includes a rotating motor 223 and a telescopic member 222 that can drive the rotating wheel 221 to extend outward or retract inward. The rotating motor 223 is connected to the rotating shaft of the rotating wheel 221, and the telescopic member 222 is connected to the rotating wheel 221. Two adjacent rotating wheels 221 form a rotating wheel group, and the two rotating wheels 221 of the rotating wheel group are spaced apart on both sides outside the adsorption nozzle 212. The two rotating wheels 221 of the same rotating wheel group rotate in opposite directions. The rotating wheel group closer to the ore feeding channel 4 can guide the ore between them to move from the inner adsorption nozzle 212 to the outer direction through the rotation of the two rotating wheels 221. The rotating wheel group closer to the seabed can guide the ore between them to move from the outer direction to the inner adsorption nozzle 212 through the opposite rotation of the two rotating wheels 221. Specifically, the telescopic component 222 can extend and retract the rotating wheel 221 according to the actual situation to adapt to different heights and improve environmental adaptability; the rotating wheel assembly can assist the negative pressure collection head 21 in collecting large particles and heavy ores. The two rotating wheels 221 rotating in opposite directions can generate a guiding force between them from the outside to the inside or from the inside to the outside, thereby assisting the adsorption and detachment of ores.

[0052] like Figure 3As shown, in this embodiment, a position adjustment mechanism 23 for adjusting the position of the negative pressure sampling head 21 is provided between the negative pressure sampling head 21 and the suspended robot body 1. The position adjustment mechanism 23 includes a first hydraulic cylinder 231, a first connecting rod 232, and a first hinge rod 233. The movable end of the first hydraulic cylinder 231 is connected to one end of the first connecting rod 232. One end of the first hinge rod 233 is hinged to the negative pressure sampling head 21, and the other end is hinged to the other end of the first connecting rod 232. The position adjustment mechanism 23 also includes a second hydraulic cylinder 234, a second connecting rod 235, and a second hinge rod 236. The movable end of the second hydraulic cylinder 234 is connected to one end of the second connecting rod 235. One end of the second hinge rod 236 is hinged to the negative pressure sampling head 21, and the other end is hinged to the other end of the second connecting rod 235. The movement directions of the movable ends of the first hydraulic cylinder 231 and the second hydraulic cylinder 234 are parallel to each other. During operation, as ore is continuously filled into the storage bin 3, the weight of the suspended robot body 1 will change, and the height of the suspension will also change slightly. The position adjustment mechanism 23 can adapt to this change, so that the negative pressure collection head 21 can be adjusted within a certain range, and can fully collect ore from the corresponding area. Specifically, since the first hydraulic cylinder 231 and the negative pressure sampling head 21 are hinged through the first connecting rod 232 and the first hinge rod 233, the first hydraulic cylinder 231 drives the first connecting rod 232 to move to the left, and the first connecting rod 232 then drives the first hinge rod 233 to move to the left. Since the first hinge rod 233 hinges the first connecting rod 232 and the negative pressure sampling head 21, the negative pressure sampling head 21 will move in the direction of the first hydraulic cylinder 231, that is, to the left. Correspondingly, the second hydraulic cylinder 234 moves to the right, which will cause the negative pressure sampling head 21 to move to the right. When the first hydraulic cylinder 231 and the second hydraulic cylinder 234 move away from the negative pressure sampling head 21 at the same time, the negative pressure sampling head 21 will be subjected to forces to the left, right and upward at the same time. The forces to the left and right will cancel each other out, which will cause the negative pressure sampling head 21 to move upward. The same applies to downward movement.

[0053] In this embodiment, the bottom of the ore storage bin 3 is equipped with an opening mechanism that discharges the ore inside the ore storage bin 3 to the outside. The opening mechanism includes a movable baffle 31 and an opening drive cylinder 32. The movable baffle 31 is located at the bottom of the ore storage bin 3, and the opening drive cylinder 32 is fixed to the suspended robot body 1, with its actuating end connected to the movable baffle 31. Specifically, the ore storage bin 3 is equipped with an ore collection box, in which the ore is collected. The ore collection box is placed on the movable baffle 31, and the opening drive cylinder 32 can open the movable baffle 31. At this time, the ore collection box and the ore inside the box will be discharged from the ore storage bin 3 under the action of gravity.

[0054] In this embodiment, the suspended negative pressure mining robot also includes a height detection mechanism 5. The height detection mechanism 5 includes a height detector 51 for acquiring height data and an insertion head 52 for inserting into the soil. The insertion head 52 is located at the bottom of the height detection mechanism 5. The bottom of the suspended robot body 1 also has two mechanical claws 6, symmetrically arranged beside a pair of negative pressure collection heads 21. Specifically, after the mining robot reaches the designated position, it moves downwards and inserts the insertion head 52 into the soil while suspended. The height detector 51 monitors changes in height. The two mechanical claws 6 are respectively located on the outside of the pair of negative pressure collection heads 21 for cleaning.

[0055] The mining method using the suspended negative pressure mining robot of the embodiment includes the following steps:

[0056] S1, a suspended negative pressure mining robot is carried by a relay base station to the seabed ore zone;

[0057] S2, the suspended negative pressure mining robot moves and floats above the seabed ore belt after leaving the relay base station;

[0058] S3. A pair of negative pressure collection heads 21 start working simultaneously, and the negative pressure collection heads 21 are aligned with the seabed ore belt to start adsorption. The ore is adsorbed on the negative pressure collection heads 21 and then sent to the ore conveying channel 4. The ore enters the ore storage bin 3 through the ore conveying channel 4.

[0059] S4. After the collection is completed, the suspended negative pressure mining robot moves to the transfer base station and sends the ore in the storage bin 3 to the transfer base station. Specifically, the outlet of the storage bin 3 is aligned with the ore entry channel of the transfer base station, the opening drive cylinder 32 opens the movable baffle 31, and the ore in the storage bin 3 is put into the transfer base station by means of delivery, and then the next round of mining work begins.

[0060] Example 2:

[0061] This embodiment is basically the same as Embodiment 1, with the main difference being: Figures 9 to 15As shown, in this embodiment, the end of the adsorption nozzle 212 is provided with a flexible adsorption mechanism that can move within a certain range and cooperate with the adsorption nozzle 212 to capture ore within that range. The center of the flexible adsorption mechanism is provided with an adsorption port 213 that communicates with the adsorption nozzle 212. The flexible adsorption mechanism includes a flexible sleeve 214 and a mechanical moving part for driving the flexible sleeve 214 to move within a certain range. The side wall of the flexible sleeve 214 is provided with at least one mounting cavity 2141, and the mechanical moving part is disposed in the mounting cavity 2141. Specifically, the adsorption port 213 communicates with the adsorption nozzle 212 to adsorb seabed ore. The flexible sleeve 214 is a silicone sleeve that can deform under the action of the mechanical moving part to change its position and achieve a small range of movement. There is a mounting cavity 2141 on both sides of the flexible sleeve 214. The mounting cavity 2141 is slightly larger than the mechanical moving part. In this embodiment, only one mounting cavity 2141 is provided with a mechanical moving part. In other embodiments, multiple mechanical moving parts can be provided according to the actual situation.

[0062] In this embodiment, the mechanical moving parts include a rotating base 215, a movable robotic arm 216, and an ultrasonic sensor 217. One end of the rotating base 215 is fixed to the end of the suction nozzle 212, and the other end is connected to one end of the movable robotic arm 216. The ultrasonic sensor 217 is located at the other end of the movable robotic arm 216.

[0063] In this embodiment, the movable robotic arm 216 includes a first robotic arm 2161, a second robotic arm 2162, and a third robotic arm 2163. One end of the first robotic arm 2161 is connected to the rotating base 215, and the other end is connected to one end of the second robotic arm 2162. The other end of the second robotic arm 2162 is connected to one end of the third robotic arm 2163. An ultrasonic sensor 217 is located at the other end of the third robotic arm 2163. The first robotic arm 2161 is equipped with a first motor 2164 that drives the first robotic arm 2161 to move. The second robotic arm 2162 is equipped with a second motor 2165 that drives the second robotic arm 2162 to move. The third robotic arm 2163 is equipped with a third motor 2166 that drives the third robotic arm 2163 to move. The rotating base 215 is equipped with a rotary motor 2151 that drives the rotating base 215 to rotate.

[0064] In this embodiment, the side wall of the suction nozzle 212 is provided with a wiring channel 218, and the rotating base 215 is located at the wiring channel 218. The cables of the mechanical moving parts are connected to the controller through the wiring channel 218.

[0065] In this embodiment, a slip ring 219 is provided on one side of the adsorption cylinder 211. One end of the slip ring 219 has a cable inlet, and the other end of the slip ring 219 is connected to a connecting pipe. The connecting pipe communicates with the control compartment of the frame, facilitating cable routing for the flexible adsorption mechanism and the adsorption nozzle 212. Specifically, a cable routing channel 218 is provided on the side wall of the adsorption nozzle 212. The cable of the flexible adsorption mechanism can enter the slip ring 219 through the cable routing channel 218 on the adsorption nozzle 212 via the gap between the adsorption nozzle 212 and the adsorption cylinder 211, and then connect to the controller through the connecting pipe. The slip ring 219 specifically includes an outer fixed outer ring and an inner connecting part. The connecting part and the fixed outer ring can rotate relative to each other, thus allowing the cable in the cable routing channel 218 to rotate relative to each other.

[0066] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A suspended negative pressure mining machine robot, characterized in that, The invention discloses a kind of negative pressure mining device and mining robot, including suspended robot body (1), the bottom of the suspended robot body (1) is equipped with negative pressure mining device (2) and the ore storage bin (3) for storing ore, the negative pressure mining device (2) includes the negative pressure collection head (21) for adsorbing the ore of seabed and sending it to the ore storage bin (3), the negative pressure collection head (21) is shared with a pair, and a pair of negative pressure collection head (21) is symmetrically arranged, the ore storage bin (3) is arranged between a pair of the negative pressure collection head (21), and the ore storage bin (3) is equipped with the ore conveying channel (4) for connecting ore storage bin (3) and negative pressure collection head (21) between negative pressure collection head (21); The negative pressure collection head (21) includes rotatable suction cylinder (211), the suction cylinder (211) is equipped with negative pressure cavity that can form negative pressure, the outer surface of suction cylinder (211) is equipped with a plurality of adsorption nozzle (212) for adsorbing ore, which is communicated with the negative pressure cavity, the adsorption nozzle (212) is sent to the ore storage bin (3) by the ore conveying channel (4) by the rotation of the suction cylinder (211), and the adsorption nozzle (212) of a pair of the negative pressure collection head (21) is staggered. The negative pressure mining device (2) further includes rotating wheel assembly (22) for cooperating with the negative pressure collection head (21) to adsorb ore or make ore separate, the rotating wheel assembly (22) is arranged on the periphery of the negative pressure collection head (21), the rotating wheel assembly (22) includes a plurality of rotating wheels (221) that can rotate clockwise or counterclockwise, and a plurality of the rotating wheels (221) are arranged outside the adsorption nozzle (212). The rotating wheel assembly (22) further includes rotating motor (223) and telescopic member (222) that can drive the rotating wheel (221) to extend outward or retract inward, the rotating motor (223) is connected with the rotating shaft of the rotating wheel (221), the telescopic member (222) is connected with the rotating wheel (221), two adjacent rotating wheels (221) form a rotating wheel group, and the two rotating wheels (221) of the rotating wheel group are arranged on both sides outside the adsorption nozzle (212), the rotating directions of the two rotating wheels (221) of the same rotating wheel group are opposite, and the rotating wheel group close to the ore conveying channel (4) side can guide the ore between them to move from the inner adsorption nozzle (212) to the outer side direction by the rotating action of the two rotating wheels (221), and the rotating wheel group close to the seabed side can guide the ore between them to move from the outer adsorption nozzle (212) to the inner side direction by the reverse rotating action of the two rotating wheels (221). The end of the suction nozzle (212) is provided with a flexible suction mechanism movable within a certain range and cooperating with the suction nozzle (212) to capture ores within the range, the center of the flexible suction mechanism is provided with a suction port (213) in communication with the suction nozzle (212), and the flexible suction mechanism comprises a flexible sleeve (214) and a mechanical moving part for driving the flexible sleeve (214) to move within a certain range, the side wall of the flexible sleeve (214) is provided with at least one mounting cavity (2141), and the mechanical moving part is arranged in the mounting cavity (2141).

2. The suspended negative pressure mining robot according to claim 1, characterized in that, The mechanical moving part comprises a rotating base (215), a movable mechanical arm (216) and an ultrasonic sensor (217), one end of the rotating base (215) is fixed to the end of the suction nozzle (212), the other end is connected to one end of the movable mechanical arm (216), and the ultrasonic sensor (217) is arranged at the other end of the movable mechanical arm (216).

3. The suspended negative pressure mining robot according to claim 2, characterized in that, The movable mechanical arm (216) comprises a first mechanical arm (2161), a second mechanical arm (2162) and a third mechanical arm (2163), one end of the first mechanical arm (2161) is connected to the rotating base (215), the other end is connected to one end of the second mechanical arm (2162), the other end of the second mechanical arm (2162) is connected to one end of the third mechanical arm (2163), the ultrasonic sensor (217) is arranged at the other end of the third mechanical arm (2163), a first motor (2164) for driving the first mechanical arm (2161) to move is arranged on the first mechanical arm (2161), a second motor (2165) for driving the second mechanical arm (2162) to move is arranged on the second mechanical arm (2162), a third motor (2166) for driving the third mechanical arm (2163) to move is arranged on the third mechanical arm (2163), a rotating motor (2151) for driving the rotating base (215) to rotate is arranged on the rotating base (215), the side wall of the suction nozzle (212) is provided with a wire channel (218), the rotating base (215) is arranged at the wire channel (218), and the cable of the mechanical moving part is connected to a controller through the wire channel (218).

4. The suspended negative pressure mining robot according to any one of claims 1 to 3, characterized in that, The position adjusting mechanism (23) is arranged between the negative pressure collecting head (21) and the suspension robot body (1) and is used for adjusting the position of the negative pressure collecting head (21), the position adjusting mechanism (23) comprises a first oil cylinder (231), a first connecting rod (232) and a first hinged rod (233), the movable end of the first oil cylinder (231) is connected with one end of the first connecting rod (232), one end of the first hinged rod (233) is hinged with the negative pressure collecting head (21), and the other end of the first hinged rod (233) is hinged with the other end of the first connecting rod (232), the position adjusting mechanism (23) further comprises a second oil cylinder (234), a second connecting rod (235) and a second hinged rod (236), the movable end of the second oil cylinder (234) is connected with one end of the second connecting rod (235), one end of the second hinged rod (236) is hinged with the negative pressure collecting head (21), and the other end of the second hinged rod (236) is hinged with the other end of the second connecting rod (235), and the movement directions of the movable ends of the first oil cylinder (231) and the second oil cylinder (234) are parallel to each other.

5. The suspended negative pressure mining robot according to any one of claims 1 to 3, characterized in that, The bottom of the ore storage bin (3) is provided with an opening mechanism capable of discharging the ore in the ore storage bin (3) to the outside, the opening mechanism comprises a movable baffle (31) and an opening driving oil cylinder (32), the movable baffle (31) is arranged at the bottom of the ore storage bin (3), and the opening driving oil cylinder (32) is fixed on the suspension robot body (1) and connected with the movable baffle (31) through the movable end; The suspension type negative pressure mining robot further comprises a height detection mechanism (5), the height detection mechanism (5) comprises a height detector (51) for obtaining height data and an insertion head (52) for inserting into the soil, the insertion head (52) is arranged at the bottom end of the height detection mechanism (5), and the bottom of the suspension robot body (1) is further provided with two mechanical claws (6), the two mechanical claws (6) are symmetrically arranged beside the pair of negative pressure collecting heads (21).

6. A mining method using the suspended negative pressure mining robot according to claim 1, characterized in that, The method comprises the following steps: S1, the suspension type negative pressure mining robot carries the transfer base station and moves to the seabed ore belt; S2, after the suspension type negative pressure mining robot is separated from the transfer base station, it moves and suspends above the seabed ore belt; S3, a pair of negative pressure collecting heads (21) start working at the same time, the negative pressure collecting head (21) is aimed at the seabed ore belt to start adsorption, the ore is adsorbed on the negative pressure collecting head (21) and then is sent to the ore conveying channel (4), and the ore enters the ore storage bin (3) through the ore conveying channel (4); S4, after the collection is completed, the suspension type negative pressure mining robot moves to the transfer base station, sends the ore in the ore storage bin (3) to the transfer base station, and then starts the next round of mining work.

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