A kind of ore collecting device suitable for cobalt-rich crust complex deposit

Abstract

This invention relates to the field of deep-sea mineral collection technology, specifically disclosing a mineral collection device suitable for complex cobalt-rich crust deposits. The device includes a main collection mechanism for collecting minerals, comprising an adaptive terrain mechanism, which includes a left-right adaptive adjustment wheel system. A collection hood is located in the center of the adaptive terrain mechanism. The collection hood has an arc-shaped structure at a preset angle and includes an inlet end and an outlet end, with the inlet end connected to the adaptive terrain mechanism. This invention utilizes the left-right adaptive adjustment wheel system to automatically adjust the wheel height according to micro-topographical undulations, ensuring stable movement of the collection device in complex cobalt-rich crust deposit areas on the deep seabed. Furthermore, the return water jetting system allows for real-time control of the return water jet flow rate, adjusting the jetting force according to different cobalt-rich crust mineral conditions, improving adaptability to various collection conditions and ensuring collection efficiency.

Description

Technical Field

[0001] This invention relates to the field of deep-sea mineral collection technology, specifically to a mineral collection device suitable for complex cobalt-rich crust deposits. Background Technology

[0002] The deep seabed contains abundant cobalt-rich crust mineral resources, with cobalt being a scarce and crucial strategic metal. To extract these solid mineral resources, most extraction devices were originally designed for polymetallic nodules and lacked adaptability to the complex terrain of cobalt-rich crusts, resulting in a lack of adaptive structures and control methods. Existing adaptive methods are mostly mechanical, posing a risk of jamming when in contact with hard-bottomed deposits, and lack terrain information feedback capabilities. Furthermore, current technologies lack environmental protection measures and methods for seabed mining.

[0003] Based on this, this application provides a ore collection device suitable for complex cobalt-rich crust deposits. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a ore collection device suitable for complex cobalt-rich crust deposits. It solves the problems of existing technologies not considering the adaptability to complex terrain of cobalt-rich crusts, lacking adaptive structures and control methods, and having mostly mechanical adaptive methods that risk jamming when in contact with hard-bottomed deposits, and lacking terrain information feedback capabilities.

[0005] The present invention provides a ore collection device suitable for complex cobalt-rich crust ore deposits, comprising a main collection mechanism for collecting ore, the main collection mechanism including:

[0006] An adaptive terrain mechanism, comprising a left and right adaptive adjustment wheel system, wherein a data collection cover is disposed in the middle of the adaptive terrain mechanism, and the left and right adaptive adjustment wheel system is used to adjust the height of the data collection cover;

[0007] The data collection hood has an arc-shaped structure at a preset angle. The data collection hood includes an inlet end and an outlet end, and the inlet end is connected to an adaptive terrain mechanism.

[0008] The collection hood is equipped with a conveying pipe at its outlet end, and a flexible contraction channel is provided at one end of the conveying pipe; the collection hood can be raised and lowered freely through the flexible contraction channel, and a collection pump is also provided in the middle of the conveying pipe for conveying the collected material.

[0009] The conveying pipeline includes an inlet end and an outlet end. The inlet end of the conveying pipeline is provided with a ore conveying channel for conveying ore to the conveying pipeline.

[0010] The outlet end of the conveying pipeline is equipped with a screening component for screening mineral particles.

[0011] Below the conveying pipe, on one side of the collection hood, is a ore crushing and conveying mechanism for crushing and conveying the ore.

[0012] As a further improvement of the present invention, a spring is installed at the wheel of the left and right adaptive adjustment wheel system, and the lifting and lowering of the wheel is controlled by the spring to automatically adapt to the undulations of the micro-terrain.

[0013] As a further improvement of the present invention, a four-bar parallel mechanism is provided on the inner side of the collection cover. The four-bar parallel mechanism includes a lifting cylinder and four connecting rods, and the four connecting rods are arranged in pairs in parallel.

[0014] As a further improvement of the present invention, the lifting cylinder and the four-bar linkage are combined to acquire terrain features through sonar and drive the hydraulic cylinder to respond using the terrain adaptation adjustment control system. The lifting cylinder drives the four-bar linkage, which, through the connection of the flexible contraction channel, forces the acquisition port to make vertical reciprocating linear motion to adapt to the complex terrain with varying heights.

[0015] As a further improvement of the present invention, the screening assembly includes a large block screening screen plate, one side of which is inclined toward the conveying channel of the conveying pipe for guiding the ore screening port into the conveying pipe.

[0016] As a further improvement of the present invention, the screening assembly also includes a high-permeability mud and sand filter screen, a fine particle settling channel, and a mud and sand water flow pipe for screening the crushed mineral mixture.

[0017] As a further improvement of the present invention, the ore crushing and conveying mechanism includes an ore crushing mechanism and an ore conveying mechanism. The ore crushing mechanism includes at least two crushing rollers, and the two crushing rollers maintain a fixed distance between them for crushing the ore by compression.

[0018] As a further improvement of the present invention, an emergency discharge mechanism is provided below the ore crushing mechanism. The emergency discharge mechanism includes a conveying emergency discharge mechanism and an outlet emergency discharge mechanism, which are located below the crushing mechanism in the crushing area and at the end of the collection outlet pipe, respectively, to prevent ore blockage and to open the gate in time to clear blockage.

[0019] As a further improvement of the present invention, the ore conveying mechanism includes a high-tooth conveyor belt and a transmission gear shaft. The transmission gear shaft is sleeved with the high-tooth conveyor belt and is used to drive the high-tooth conveyor belt to transport the ore to the collection outlet and prevent the fluid in the ore sinking channel from flowing back to the pump inlet section.

[0020] As a further improvement of the present invention, a vibrator, a damping spring and a vibrating plate are arranged above the gate of the emergency discharge mechanism for moving the crushed mineral particles downward onto the high-tooth conveyor belt.

[0021] As a further improvement of the present invention, the inlet end of the collection hood is also provided with a return water spraying system. The return water spraying system includes one or more nozzles, a return water pipe, and a return water proportional regulating valve. One end of the return water pipe is connected to the outlet pipe of the collection pump, and the other end is connected to the nozzle. The middle section of the return water pipe is connected to the return water proportional regulating valve for real-time control of the return water spray flow rate.

[0022] As a further improvement of the present invention, a collection device lifting mechanism is also provided on the outside of the conveying pipeline for adaptive lifting of the collection main body mechanism. The collection device lifting mechanism includes a lifting guide rail, a lifting screw, a servo motor and a frame fixing point.

[0023] As a further improvement of the present invention, one end of the slide rail and the lead screw is connected to the fixed point of the vehicle frame, and the other end is connected to the main acquisition mechanism.

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

[0025] 1. This invention installs springs at the wheels of the left and right adaptive adjustment wheel system, which can automatically adjust the wheel height according to the micro-topographic undulations, ensuring that the collection device moves smoothly in the complex cobalt-rich crust deposit area on the deep seabed, improving the device's adaptability to complex terrain, and reducing equipment failures and collection interruptions caused by terrain problems.

[0026] The lifting mechanism of the data collection device allows the main body of the data collection device to adapt to different seabed topographic reliefs, avoid collisions with obstacles, and ensure the smooth progress of the data collection work.

[0027] Meanwhile, the ore crushing mechanism crushes the ore by squeezing it with at least two crushing rollers that maintain a fixed distance, which can crush large ore particles into smaller particles suitable for conveying, thus preparing them for subsequent conveying processes and improving the conveying efficiency of the ore.

[0028] Furthermore, the high-tooth conveyor belt and transmission gear shaft of the ore conveying mechanism work together to efficiently transport the crushed ore to the collection outlet. The conveyor belt has a high-tooth structure that can prevent the fluid in the ore sinking channel from flowing back to the pump inlet section, ensuring the normal operation of the pump and avoiding the impact of fluid backflow on collection efficiency or damage to the pump equipment.

[0029] 2. The present invention can effectively prevent ore blockage by setting up an emergency discharge mechanism. The emergency discharge mechanism for conveying and the emergency discharge mechanism for outlet are set up in the crushing area and the end of the collection outlet pipeline, respectively. When a blockage occurs, the gate can be opened in time to clear the blockage, ensuring smooth ore collection and conveying process and reducing equipment damage and production stoppage caused by blockage.

[0030] The added return water jetting system controls the return water jet flow rate in real time through a return water proportioning valve, allowing for adjustments to the jetting intensity based on the cobalt-rich crust ore under different working conditions. For loose, scattered ore, the jetting flow rate is reduced; for well-accumulated, high-density ore, the jetting flow rate is increased, improving adaptability to different collection conditions and ensuring collection efficiency. Attached Figure Description

[0031] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0032] Figure 1 This is a schematic diagram of the three-dimensional structure of the combined conveying pipe and the collection hood in this invention;

[0033] Figure 2 This is a side view of the combined structure of the conveying pipe and the collection cover in this invention;

[0034] Figure 3 for Figure 2 Schematic diagram of the cross-sectional structure of the middle AA section;

[0035] Figure 4 for Figure 3 Enlarged structural diagram at point A in the middle.

[0036] In the diagram: 1. Conveying pipeline; 2. Lifting mechanism of the collection device; 3. Left and right adaptive adjustment wheel system; 4. Return water spraying system; 5. Disturbance reduction mechanism; 6. Displacement sensor; 7. Collection hood; 8. Hydraulic motor; 9. Particle concentration meter in the front collection chamber; 10. Sonar; 11. Nozzle; 12. Fine particle concentration meter; 13. Screening screen; 14. Lifting cylinder; 15. Four-bar linkage; 16. High-tooth conveyor belt; 17. Transmission gear shaft; 18. Emergency discharge mechanism at the outlet; 19. Vibrating plate; 20. Vibrator; 21. Emergency discharge mechanism for conveying; 22. Crushing roller;

[0037] 201. Lifting guide rail; 202. Chassis fixing point; 203. Servo motor; 204. Lifting lead screw;

[0038] 41. Return water pipe; 42. Return water proportioning valve; 43. Flocculant injection port. Detailed Implementation

[0039] The following illustrations disclose several embodiments of the present invention. For clarity, many physical details will be described in the following description. However, it should be understood that these physical details are not intended to limit the invention. That is, in some embodiments of the invention, these physical details are not essential. Furthermore, for the sake of simplicity, some conventional structures and components will be shown in the illustrations in a simple schematic manner.

[0040] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0041] Existing acquisition devices are mostly used in the field of polymetallic nodules. Due to the flat terrain, most acquisition devices do not consider the ability to adapt to the terrain and lack adaptive structures and control methods. Existing adaptive methods are mostly mechanical methods, which are designed for cobalt-rich crusts with hard bottoms. Since the mechanical structure is in direct contact with the hard bottom deposit, there is a potential risk of jamming.

[0042] Based on this, this application provides a ore collection device suitable for complex cobalt-rich crust deposits. Please refer to [link to relevant documentation]. Figure 1 , Figure 2 as well as Figure 3 It includes a main acquisition mechanism, which includes an adaptive terrain mechanism, which includes a left and right adaptive adjustment wheel system 3, and an acquisition cover 7 is set in the middle of the adaptive terrain mechanism for adjusting the height of the acquisition cover 7.

[0043] The data acquisition cover 7 has an arc-shaped structure at a preset angle. The data acquisition cover 7 includes an inlet end and an outlet end, and the inlet end is connected to the adaptive terrain mechanism.

[0044] The collection hood 7 is provided with a conveying pipe 1 at the outlet end. One end of the conveying pipe 1 is provided with a flexible contraction channel, which allows the collection hood 7 to be raised and lowered freely. A collection pump is also provided in the middle of the conveying pipe 1 for conveying the collected material.

[0045] The conveying pipeline 1 includes an inlet end and an outlet end. The inlet end of the conveying pipeline 1 is provided with a ore conveying channel for conveying ore to the conveying pipeline 1. The outlet end of the conveying pipeline 1 is provided with a screening component for screening ore particles. Below the conveying pipeline 1, on one side of the collection cover 7, is a ore crushing and conveying mechanism for crushing and conveying ore.

[0046] It should be noted that the adaptive terrain mechanism is used by the data acquisition device to cope with complex terrain. It includes a left and right adaptive adjustment wheel system 3, which can automatically adjust the height and position of the left and right sides according to the complex terrain of the cobalt-rich crust deposit. For example, when encountering a situation where one side is higher and the other side is lower, the left and right adaptive adjustment wheel system 3 can make corresponding extension and retraction adjustments to keep the entire device stable and better adapt to terrain changes. Furthermore, when the spring compression is large, the position information of the two sides is acquired by the displacement sensor 6 of the sensing and sensing system, and the position information is fed back to the sensing and sensing system. The mining car's adaptive control algorithm then controls the lifting cylinder 14 of the four-bar parallel mechanism 15 to adjust the height of the data acquisition cover 7.

[0047] A collection hood 7 is set in the middle of the adaptive terrain mechanism. The collection hood 7 is an arc-shaped structure that gradually narrows from the inlet to the outlet. This helps to guide the ore into the collection device more smoothly when collecting ore. The collection hood 7 includes an inlet end and an outlet end. The inlet end is connected to the adaptive terrain mechanism, ensuring that the collection hood 7 can move synchronously with the adjustment of the adaptive terrain mechanism, thereby better adapting to different terrains.

[0048] One end of the conveying pipeline 1 is equipped with a flexible contraction channel, which is connected to the collection hood 7. Due to the complex terrain of the cobalt-rich crust deposit, the collection hood 7 needs to be raised and lowered freely according to the actual terrain in order to better collect the ore. The flexible contraction channel has good flexibility and extensibility. When the collection hood 7 is raised and lowered according to the terrain, the flexible contraction channel can be stretched or contracted accordingly, thereby realizing the free raising and lowering of the collection hood 7 and ensuring the smooth progress of the collection work.

[0049] A sampling pump is installed in the middle of the conveying pipeline 1. The function of the sampling pump is to provide power for conveying the collected ore. When the ore enters the conveying pipeline 1, the sampling pump starts to work, conveying the ore from the inlet end to the outlet end of the conveying pipeline 1. The sampling pump includes a sampling pump body and a hydraulic motor 8. The hydraulic system can realize the frequency conversion control of the hydraulic variable motor, thereby driving the sampling pump body to perform frequency conversion sampling. The power required for sampling is intelligently adjusted by identifying different particle concentrations.

[0050] The inlet end of conveying pipeline 1 is equipped with a ore conveying channel, which directly contacts the cobalt-rich crust ore. When the collection device moves to the location of the ore, the ore is conveyed to conveying pipeline 1 through the ore conveying channel, preparing for subsequent conveying and processing. The design of the ore conveying channel must take into account the flowability and conveying efficiency of the ore; factors such as the pipe diameter and the smoothness of the inner wall will affect the conveying effect of the ore.

[0051] A screening assembly is installed at the outlet end of conveying pipe 1. Because the cobalt-rich crust ore particles vary in size, screening is necessary to meet the requirements of subsequent processing and use. The screening assembly can separate the ore particles according to their size, removing those that meet the requirements. Particles that do not meet the requirements can be further processed or returned to the collection process. A ore crushing and conveying mechanism is installed below conveying pipe 1, on one side of the collection hood 7. When collecting cobalt-rich crust ore, some particles may be too large to be directly conveyed through conveying pipe 1. The function of the ore crushing and conveying mechanism is to crush these larger particles so they can pass smoothly through conveying pipe 1. This mechanism first crushes the ore, breaking large particles into smaller ones, and then conveys the crushed ore into conveying pipe 1 for subsequent transport and processing.

[0052] Please see Figure 1 , Figure 2 The left and right adaptive adjustment wheel system 3 has springs installed at the wheels, which control the raising and lowering of the wheels to adapt to the undulations of the terrain.

[0053] The inside of the collection cover 7 is provided with a four-bar parallel mechanism 15, which includes a lifting cylinder 14 and four connecting rods, with the four connecting rods arranged in pairs in parallel.

[0054] The lifting cylinder is combined with a four-bar linkage. The lifting cylinder drives the four-bar linkage, which, through the connection of a flexible contraction channel, forces the collection port to make a vertical reciprocating linear motion to adapt to complex terrain with varying heights.

[0055] Springs are installed at the wheels of the left-right adaptive adjustment wheel system 3. When the data collection device moves in the deep-sea cobalt-rich crust deposit area, it will encounter various undulating terrains. For example, when encountering protruding terrain, the wheels are subjected to an upward force, at which point the springs are compressed, and the wheels contract upwards, allowing the entire device to smoothly cross the protrusions. When encountering concave terrain, the springs extend due to reduced force, and the wheels move downwards, maintaining contact between the device and the ground, allowing the device to smoothly pass through concave areas. Through this simple yet effective method, the wheels can automatically rise and fall according to the undulations of the terrain, enabling the data collection device to better adapt to complex terrains and ensuring the smooth progress of data collection operations.

[0056] The four-bar parallel mechanism 15 installed inside the collection hood 7 consists of a lifting cylinder 14 and four connecting rods. The four connecting rods are arranged in parallel pairs. During the collection process, in order to enable the collection hood 7 to adapt to different working conditions and maintain a stable collection effect, the height of the collection hood 7 needs to be flexibly adjusted. When the lifting cylinder 14 is working, it generates driving force.

[0057] For example, when it is necessary to lower the height of the collection hood 7 to get closer to the ore for collection, the lifting cylinder 14 drives the four-bar linkage to move. With the cooperation of the flexible contraction channel, the collection port moves downward in a vertical straight line until the appropriate collection height is reached. When it is necessary to raise the collection hood 7 to overcome obstacles or adjust it to other working positions, the lifting cylinder 14 drives the four-bar linkage in the opposite direction, and the collection port moves upward in a vertical straight line. This four-bar parallel mechanism 15 design makes the height adjustment of the collection hood 7 more stable and controllable, and can adjust the height of the collection hood 7 in a timely manner according to the actual collection needs and terrain conditions, thereby improving collection efficiency and adaptability to different working conditions.

[0058] Please see Figure 2 , Figure 3 as well as Figure 4 The screening assembly includes a large block screening screen 13, one side of which is inclined toward the conveying channel of the conveying pipe, for the purpose of allowing the ore screening port to enter the conveying pipe 1.

[0059] The screening assembly also includes a high-permeability silt filter, a fine particle settling channel, and a silt and water flow pipe, used for screening the crushed mineral mixture.

[0060] During the cobalt-rich crust ore collection process, the ore conveyed to the outlet of conveying pipe 1 contains particles of varying sizes. The large block screening screen 13 in the screening assembly plays a crucial role. One side of the large block screening screen 13 is inclined towards the conveying channel of the conveying pipe. When the ore arrives at the screening assembly along the conveying pipe 1, due to the inclined setting of the large block screening screen 13, the ore will move along the screen surface towards the conveying channel under the action of gravity.

[0061] In this process, ore smaller than the mesh size of the large block screening screen 13 passes through the mesh and enters the conveying pipe 1 from the ore screening inlet to continue the subsequent conveying process. Larger ore larger than the mesh size remains on the screen and can be further processed, such as being sent back to the ore crushing and conveying mechanism for secondary crushing. This inclined design effectively utilizes gravity, improves the efficiency of ore screening, ensures that appropriately sized ore smoothly enters the conveying pipe 1, and avoids problems such as blockages caused by large ore in subsequent processes.

[0062] During the crushing and transportation of cobalt-rich crust ore, a crushed mixture is often formed, which contains not only ore particles but also silt and water. To further separate the ore from impurities such as silt, the screening unit is equipped with a high-permeability silt filter, a fine particle settling channel, and silt and water circulation pipes.

[0063] When the crushed ore mixture reaches the corresponding position in the screening assembly, it first passes through a high-permeability silt filter. This filter has a special structure and material that allows fine particles such as silt and water to pass through while trapping the ore particles. The silt and water passing through the filter then enter a silt-water flow pipe and are discharged along the pipe, thus achieving the initial separation of silt and water from the ore.

[0064] During this process, some smaller, finer particles may move along with the silt and water. However, under the influence of gravity and fluid dynamics, these fine particles will return to the main ore stream through the fine particle settling channel, further improving the ore collection rate. Through the synergistic effect of a high-permeability silt filter, fine particle settling channel, and silt-water flow pipes, the crushed ore mixture can be effectively screened, improving the purity of the ore and reducing the impact of impurities such as silt on subsequent processing and use.

[0065] Please see Figure 1 , Figure 2 , Figure 3 as well as Figure 4 The ore crushing and conveying mechanism includes an ore crushing mechanism and an ore conveying mechanism. The ore crushing mechanism includes at least two crushing rollers 22, with a fixed distance between the two crushing rollers, for crushing the ore by compression.

[0066] An emergency discharge mechanism is installed below the ore crushing mechanism. The emergency discharge mechanism includes a conveying emergency discharge mechanism 21 and an outlet emergency discharge mechanism 18, which are located below the crushing mechanism in the crushing area and at the end of the collection outlet pipe, respectively, to prevent ore blockage and to open the gate in time to clear blockage.

[0067] The ore conveying mechanism includes a high-tooth conveyor belt 16 and a transmission gear shaft 17. The transmission gear shaft 17 is sleeved with the high-tooth conveyor belt 16 and is used to drive the high-tooth conveyor belt 16 to transport the ore to the collection outlet and prevent the fluid in the ore sinking channel from flowing back to the pump inlet section.

[0068] The emergency discharge mechanism 21 is equipped with a vibrator 20, a damping spring, and a vibrating plate 19 above the gate, which are used to move the crushed mineral particles downwards onto the high-tooth conveyor belt 16.

[0069] During the cobalt-rich crust ore collection process, the ore entering through the collection hood 7 varies in size. Some larger pieces cannot be directly transported through the conveying pipe 1, thus requiring a ore crushing mechanism. This crushing mechanism includes at least two crushing rollers 22. When the ore enters between the two rollers 22, it is subjected to compression as the rollers rotate. Since the distance between the two rollers 22 is fixed, only ore smaller than this distance can pass through smoothly, while ore larger than this distance will be crushed into smaller particles under the compression.

[0070] Furthermore, multiple crushing rollers 22 can be provided, and through their combined crushing action, the ore can be better crushed into small particles.

[0071] During the ore crushing process, ore blockage may occur. To address this, an emergency discharge mechanism is installed below the ore crushing unit. The emergency discharge mechanism consists of a conveying emergency discharge mechanism 21 and an outlet emergency discharge mechanism 18, which are located below the crushing unit in the crushing area and at the end of the collection outlet pipe, respectively.

[0072] When ore blockage occurs in the crushing area, the emergency discharge mechanism 21 can be activated. It acts as a backup channel, opening a gate promptly when a blockage is detected. For example, if a large amount of ore that cannot be crushed or passed through in time accumulates near the crushing roller 22, causing a blockage in the crushing area, the gate of the emergency discharge mechanism 21 will open to discharge the accumulated ore, preventing the blockage from worsening.

[0073] The emergency discharge mechanism 18 is mainly designed to address blockages at the collection outlet pipe end. When a blockage occurs at the collection outlet pipe end during the transportation process, the gate of the emergency discharge mechanism 18 will open promptly to clear the blockage and ensure that the ore can be discharged smoothly, thus guaranteeing the smooth operation of the entire collection and transportation process.

[0074] The function of the ore conveying mechanism is to transport the crushed ore to the collection outlet and prevent the fluid in the ore sinking channel from flowing back to the pump inlet section. It consists of a high-tooth conveyor belt 16 and a drive gear shaft 17, which is sleeved with the high-tooth conveyor belt 16.

[0075] When the transmission gear shaft 17 rotates, it drives the high-tooth conveyor belt 16, which is fitted with it, to move. The crushed ore falls onto the high-tooth conveyor belt 16 and is transported to the collection outlet as the high-tooth conveyor belt 16 moves. This conveying method can efficiently transport the ore from the crushing area to the designated location. At the same time, the high-tooth conveyor belt 16 plays a certain role in preventing fluids (such as water containing mud and sand) in the ore sinking channel from flowing back to the pump inlet section. Because if these fluids flow back to the pump inlet section, it may affect the normal operation of the pump, reduce the collection efficiency, or even damage the pump equipment. Therefore, the high-tooth conveyor belt 16 effectively avoids this situation and ensures the stable operation of the entire collection system.

[0076] Above the gate of the emergency material discharge mechanism 21, a vibrator 20, a damping spring, and a vibrating plate 19 are arranged. When the crushed ore falls onto the vibrating plate 19, the vibrator 20 starts to work and generates vibration. This vibration is transmitted to the crushed ore particles through the vibrating plate 19.

[0077] The damping springs act as buffers and stabilizes the vibrations, making them more uniform and controllable. Under the influence of vibration, the mineral particles overcome their own friction and the forces between them, moving downwards onto the high-tooth conveyor belt 16.

[0078] Please see Figure 3 , Figure 4 The inlet end of the collection hood 7 is also equipped with a return water spray system 4. The return water spray system 4 includes one or more nozzles 11, a return water pipe 41, and a return water proportional regulating valve 42. One end of the return water pipe 41 is connected to the outlet pipe of the collection pump, and the other end is connected to the nozzle 11. The middle section of the return water pipe 41 is connected to the return water proportional regulating valve 42 for real-time control of the return water spray flow rate.

[0079] An acquisition device lifting mechanism 2 is also provided on the outside of the conveying pipeline 1, which is used to adaptively lift the acquisition main body. The acquisition device lifting mechanism 2 includes a lifting guide rail 201, a lifting screw 204, a servo motor 203 and a frame fixing point 202. One end of the guide rail and the screw is connected to the frame fixing point 202, and the other end is connected to the acquisition main body.

[0080] The return water jetting system 4 consists of one or more nozzles 11, a return water pipe 41, and a return water proportional regulating valve 42. One end of the return water pipe 41 is connected to the outlet pipe of the collection pump, and the other end is connected to the nozzle 11. When the collection pump is working, it generates a water flow with a certain pressure. Part of the water flow is guided to the nozzle 11 through the return water pipe 41. During this process, the middle section of the return water pipe 41 is connected to the return water proportional regulating valve 42, which can adjust the return water jet flow rate in real time.

[0081] For example, the required spraying force varies when collecting cobalt-rich crusts of different types or thicknesses. If the ore is relatively loose, a smaller spraying flow rate is needed. In this case, the water flow rate in the return water pipe 41 can be reduced by adjusting the return water proportion regulating valve 42, thereby reducing the water flow rate ejected from the nozzle 11 accordingly. Conversely, if the ore is thick and compacted, a larger spraying force is needed to disperse the ore for collection. In this way, the water flow rate in the return water pipe 41 can be increased by adjusting the return water proportion regulating valve 42, causing the nozzle 11 to eject a larger flow rate of water. Thus, by adjusting the return water spray flow rate in real time, the return water spraying system 4 can better adapt to different collection conditions and improve collection efficiency.

[0082] To enable the main collection mechanism to adapt to the seabed terrain with significant elevation differences and to meet collection requirements, a collection device lifting mechanism 2 is installed on the outside of the transport pipeline 1. This mechanism includes a lifting guide rail 201, a lifting screw 204, a servo motor 203, and a frame fixing point 202.

[0083] One end of the slide rail and lead screw is connected to the frame fixing point 202, which is usually fixed to the frame of the entire data acquisition device, providing a stable support foundation for the lifting mechanism. The other end of the slide rail and lead screw is connected to the main data acquisition mechanism, which allows the main data acquisition mechanism to move up and down under the action of the lifting mechanism.

[0084] Servo motor 203 provides power to the lifting mechanism 2 of the acquisition device. When it is necessary to adjust the height of the acquisition main body mechanism, servo motor 203 starts to work. The rotation of servo motor 203 will drive the lifting screw 204 to rotate. Since the lifting screw 204 is connected to the acquisition main body mechanism, the rotation of the screw will be converted into the linear motion of the acquisition main body mechanism along the lifting guide rail 201, thereby realizing the lifting of the acquisition main body mechanism.

[0085] For example, when the data acquisition device encounters a seabed protrusion, it needs to be raised to avoid collisions with the protrusion. In this case, the servo motor 203 is controlled to rotate forward, causing the lifting screw 204 to rotate forward as well. The data acquisition device will then move upward along the lifting guide rail 201 to a suitable position. Conversely, when encountering a depression, the servo motor 203 is controlled to rotate in the opposite direction, causing the lifting screw 204 to rotate in the opposite direction. The data acquisition device will then move downward along the lifting guide rail 201 to a suitable height. In this way, the lifting mechanism 2 of the data acquisition device enables the data acquisition device to adapt to different terrains, ensuring smooth data acquisition.

[0086] Example 2

[0087] Please see Figure 1 and Figure 2 A sensing and sensing system is installed at the front end of the return water spray system 4;

[0088] The aforementioned sensing and sensing system includes one or more sonars 10, a particle concentration meter volume displacement sensor 6, and a control center. The sonar 10 detects the terrain ahead and feeds the terrain information back to the control center in a timely manner. The control center manipulates the lifting cylinder 14 of the acquisition hood 7 and the rotating screw of the servo motor 203, thereby achieving adaptive adjustment of the acquisition hood 7 and the acquisition mechanism. The particle concentration meter 9 in the acquisition chamber measures the mineral concentration inside the acquisition hood 7, while the fine particle concentration meter 12 mainly measures the mineral concentration at the inlet of the acquisition pump. Both concentration information are fed back to the control center, which adjusts the hydraulic variable motor to reduce the acquisition speed at low concentrations and increase the speed and power at high concentrations, thus achieving high-efficiency variable-frequency acquisition. The displacement sensor 6 mainly acquires position information on both sides and feeds this information back to the sensing and sensing system. The mining vehicle's adaptive control algorithm controls the lifting cylinder 14 of the four-bar parallel mechanism 15 to adjust the height of the acquisition hood 7.

[0089] Furthermore, a disturbance reduction mechanism 5 is installed at the outlet of the conveying pipeline 1. The disturbance reduction mechanism 5 is mainly used to suppress the plume flow at the collection outlet and reduce the impact of environmental disturbances during collection. It includes a flexible disturbance reduction cover and a flocculant injection port 43. The flexible disturbance reduction cover is made of flexible corrosion-resistant leather material with a certain degree of hardness. The top of the flexible disturbance reduction cover is connected to the branch pipe of the sediment water channel. Sediment water flows into the interior of the flexible disturbance reduction cover. There are one or more flocculant injection ports 43 on the top of the cover. By injecting flocculant, the binding and sedimentation of sediment can be accelerated.

[0090] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A mineral ore collecting device suitable for use in cobalt-rich crust complex deposits, comprising a collecting main body mechanism for collecting mineral ores, characterized in that: The main data collection organization includes: An adaptive terrain mechanism, comprising a left and right adaptive adjustment wheel system, wherein a data collection cover is disposed in the middle of the adaptive terrain mechanism, and the left and right adaptive adjustment wheel system is used to adjust the height of the data collection cover; The data collection hood has an arc-shaped structure at a preset angle. The data collection hood includes an inlet end and an outlet end, and the inlet end is connected to an adaptive terrain mechanism. The collection hood is provided with a conveying pipe at its outlet end, a flexible contraction channel at one end of the conveying pipe, and a collection pump in the middle of the conveying pipe for conveying the collected material. The conveying pipeline includes an inlet end and an outlet end. The inlet end of the conveying pipeline is provided with a ore conveying channel for conveying ore to the conveying pipeline. The outlet end of the conveying pipeline is provided with a screening component for screening ore particles. Below the conveying pipe, on one side of the collection hood, is a ore crushing and conveying mechanism for crushing and conveying the ore. The outer side of the conveying pipeline is also provided with a data acquisition device lifting mechanism for adaptive lifting of the main data acquisition mechanism. The data acquisition device lifting mechanism includes a lifting guide rail, a lifting screw, a servo motor and a frame fixing point. One end of the lifting guide rail and the lifting screw is connected to the frame fixing point, and the other end of the lifting guide rail and the lifting screw is connected to the main data acquisition mechanism. The inside of the collection cover is provided with a four-bar parallel mechanism, which includes a lifting cylinder and four connecting rods, and the four connecting rods are arranged in pairs in parallel. The ore crushing and conveying mechanism includes an ore crushing mechanism and an ore conveying mechanism. The ore crushing mechanism includes at least two crushing rollers, and the two crushing rollers maintain a fixed distance between them for crushing the ore by compression. An emergency discharge mechanism is provided below the ore crushing mechanism. The emergency discharge mechanism includes a conveying emergency discharge mechanism and an outlet emergency discharge mechanism, which are located below the crushing mechanism in the crushing area and at the end of the collection outlet pipe, respectively, to prevent ore blockage and to open the gate in time to clear blockage. The inlet end of the collection hood is also equipped with a return water spraying system, which includes one or more nozzles, a return water pipe, and a return water proportional regulating valve. One end of the return water pipe is connected to the outlet pipe of the collection pump, and the other end is connected to the nozzle. The middle section of the return water pipe is connected to the return water proportional regulating valve for real-time control of the return water spray flow rate.

2. The ore material collecting device suitable for a Co-rich crust complex ore deposit according to claim 1, characterized in that: The left and right adaptive adjustment wheel system has springs installed at the wheels, which control the raising and lowering of the wheels to automatically adapt to the undulations of the micro-terrain.

3. The ore material collecting device suitable for a Co-rich crust complex ore deposit according to claim 1, characterized in that: The lifting cylinder and the four-bar linkage are combined to acquire terrain features through sonar. The terrain adaptation and adjustment control system drives the cylinder to respond. The lifting cylinder drives the four-bar linkage, which, with the cooperation of the flexible contraction channel, forces the entrance end of the acquisition hood to make vertical reciprocating linear motion to adapt to the complex terrain with varying heights.

4. The ore material collecting device suitable for a Co-rich crust complex ore deposit according to claim 1, characterized in that: The screening assembly includes a large block screening screen plate, one side of which is inclined toward the conveying channel of the conveying pipe, so that the ore enters the conveying pipe from the screening port.

5. The ore material collecting device suitable for a Co-rich crust complex ore deposit according to claim 1, characterized in that: The screening assembly also includes a high-permeability silt filter, a fine particle settling channel, and a silt and water flow pipe, used for screening the crushed mineral mixture.

6. The ore material collecting device suitable for a Co-rich crust complex ore deposit according to claim 1, characterized in that: The ore conveying mechanism includes a high-tooth conveyor belt and a transmission gear shaft. The transmission gear shaft is sleeved with the high-tooth conveyor belt and is used to drive the high-tooth conveyor belt to transport the ore to the collection outlet and prevent the fluid in the ore sinking channel from flowing back to the pump inlet section.

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