Grabbing and clamping device for submarine mining vehicle

Abstract

The invention relates to the technical field of submarine mining, provides a grabbing and clamping device for a submarine mining vehicle, and aims to solve the problems that an existing manipulator is easy to empty in grabbing under ocean current disturbance, low in fitting degree with irregular minerals and low in grabbing force control precision. According to the device, a first driving motor and a second driving motor are used for driving a connecting plate and a supporting pipe to rotate through an adjusting mechanism, and initial position adjustment of a clamping mechanism is achieved; a stepping motor in the moving mechanism drives a transmission screw rod to rotate through a gear component, so that a moving box drives a moving pipe to move, and further positioning is realized; the clamping mechanism drives the moving frame through the electric push rod to drive the multiple fixing claws to get close to each other, and seabed ore is clamped from different directions. The device can effectively cope with ocean current disturbance, improve the fitting degree with irregular minerals, flexibly adjust the grabbing force, and improve the clamping and collecting efficiency and reliability of seabed ores.

Description

Technical Field

[0001] This invention relates to the field of seabed mining technology, and in particular to a gripping device for seabed mining vehicles. Background Technology

[0002] The core function of the gripper device for seabed mining vehicles is to accurately complete mineral collection, transportation and auxiliary operations in the complex environment of the deep sea. It is a key component for realizing the mining of seabed mineral resources. The collected minerals need to be transferred to the storage bin or conveying system of the mining vehicle through the gripper device to ensure the continuity of the mining process. Currently, under complex ocean conditions, ocean current disturbances cause positioning deviations. Ocean currents can push robotic arms or minerals to deviate, and existing robotic arms are prone to "grabbing empty" or "grabbing off-center," resulting in minerals falling off.

[0003] Existing robotic arms are mostly planar or simple curved, resulting in poor contact with irregularly shaped polymetallic nodules and blocky sulfides, leading to small contact areas and easy slippage through gaps. For minerals of different hardness, existing robotic arms mostly output fixed force. Excessive force can crush the minerals and waste resources, while insufficient force cannot grip them firmly, especially during lifting, where they are prone to falling due to bumps, and the gripping force control precision is low. To address the aforementioned problems, this invention proposes a gripping device for seabed mining vehicles. Summary of the Invention

[0004] The purpose of this invention is to solve the problems of existing robotic arms being prone to missing their grip under ocean current disturbances, having low adhesion to irregular minerals, and having low precision in gripping force control, and to propose a gripping device for seabed mining vehicles.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A gripping device for a seabed mining vehicle includes a mounting plate on which an adjustment mechanism is mounted. The gripping device also includes: Support pipe installed on the adjustment mechanism; A movable mechanism is installed inside the support tube, and a clamping mechanism is connected to the movable mechanism. One side of the clamping mechanism extends to the outside of the mounting plate. The clamping mechanism is initially positioned by an adjustment mechanism based on the location of the seabed ore. The clamping mechanism is then moved by a moving mechanism for further positioning. The clamping mechanism uses multiple fixed claws to grip the seabed ore from different directions, preventing gripping deviation and slippage.

[0006] In one possible design, the adjustment mechanism includes a first connecting frame fixedly connected to one side of the mounting plate, a connecting plate rotatably connected to the first connecting frame, a second connecting frame fixedly connected to one side of the connecting plate, and a support tube rotatably connected to the second connecting frame. A first drive motor is fixedly connected to the first connecting frame, and the output shaft of the first drive motor extends into the first connecting frame and is fixedly connected to the connecting plate. A second drive motor is fixedly connected to one side of the second connecting frame, and the output shaft of the second drive motor extends into the second connecting frame and is fixedly connected to one side of the support tube. The first drive motor and the second drive motor drive the connecting plate and the support tube to rotate, thereby adjusting the position of the clamping mechanism.

[0007] In one possible design, a first protective cover for protecting the first drive motor is fixedly connected to the first connecting frame, and a second protective cover for protecting the second drive motor is fixedly connected to one side of the second connecting frame. When mining ore on the seabed, the first and second protective covers ensure the stable operation of the first and second drive motors.

[0008] In one possible design, the moving mechanism includes a moving tube slidably connected to the support tube, a stepper motor fixedly connected to the inner wall of one side of the support tube, a transmission assembly connected to the output shaft of the stepper motor, and two moving boxes fixedly connected to both sides of the moving tube. Both moving boxes are slidably connected to the inner wall of the support tube, and the transmission assembly extends into the two moving boxes respectively and is connected to the inner wall of one side of the moving box. The position of the clamping mechanism is adjusted by moving the moving box and moving tube by driving the transmission component through a stepper motor.

[0009] In one possible design, the transmission assembly includes two transmission screws located in two movable boxes respectively. One end of each transmission screw passes through the inner wall of one side of the movable box and extends into the support tube. The transmission screws are threadedly connected to the inner wall of one side of the movable box. Both transmission screws are rotatably connected to the inner wall of the support tube. A gear component is mounted on the output shaft of the stepper motor, and the gear component is connected to one end of each of the two transmission screws respectively. A stepper motor drives a gear assembly, which in turn rotates a transmission screw, thereby moving the movable box.

[0010] In one possible design, the gear component includes a bevel ring fixedly connected to the output shaft of the stepper motor, two drive shafts rotatably connected to the inner walls of both sides of the support tube, a drive bevel gear fixedly connected to one end of the drive shaft, a connecting bevel gear fixedly sleeved on the drive shaft, and a driven gear fixedly connected to one end of the drive screw. Both drive bevel gears mesh with the bevel ring, and the connecting bevel gear meshes with the corresponding driven gear. The meshing transmission between the bevel ring and the drive bevel gear drives the drive shaft and the connecting bevel gear to rotate, thereby driving the driven gear and the transmission screw to rotate.

[0011] In one possible design, the clamping mechanism includes a connecting seat fixedly connected to one side of the moving tube, a plurality of connecting lugs fixedly connected to the connecting seat at equal intervals, an adjusting frame rotatably connected to the connecting lugs, a fixing claw fixedly connected to the adjusting frame, and a power component disposed inside the moving tube. One side of the power component passes through the connecting seat and extends to one side of the connecting seat, and one side of the power component is connected to the plurality of adjusting frames respectively. The adjustment frame is driven to rotate by a power component, so that multiple fixed claws come together to clamp the seabed ore from different directions.

[0012] In one possible design, the power assembly includes a mounting bracket fixedly connected inside the movable tube, multiple slide rails fixedly connected at equal intervals to the mounting bracket, a movable frame slidably connected to the multiple slide rails, multiple movable rods fixedly connected at equal intervals to one side of the movable frame, and an electric push rod fixedly connected to one side of the mounting bracket. The multiple movable rods all pass through the connecting seat and are slidably connected to the connecting seat. Two connecting rods are symmetrically rotatably connected to one end of the movable rod located on one side of the connecting seat. One end of the two connecting rods is rotatably connected to both sides of the adjusting frame, and the output shaft of the electric push rod passes through the mounting bracket and is fixedly connected to the other side of the movable frame. The moving frame is driven by an electric push rod, which in turn moves the moving rod and connecting rod, thereby driving the adjusting frame and the fixed claw to rotate.

[0013] In one possible design, the fixing claws are arc-shaped structures, with multiple fixing claws evenly spaced to increase the contact area with the seabed ore and prevent slippage.

[0014] In this application, during seabed mining operations, this device is installed on a seabed mining vehicle. When it is necessary to clamp and collect seabed ore, the first drive motor is started to rotate the connecting plate within the first connecting frame, and the second drive motor is started to rotate the support tube within the second connecting frame. Utilizing the rotational connection between the connecting plate and the first connecting frame, and the rotational connection between the second connecting frame and the support tube, the clamping mechanism is initially adjusted according to the position of the seabed ore. During this process, the first and second protective covers respectively protect the first and second drive motors, ensuring their stable operation. Next, the stepper motor is started, driving the bevel gear ring to rotate. The bevel gear ring meshes with two drive bevel gears, driving... Two drive shafts rotate, and the connecting bevel gears on the drive shafts mesh with the corresponding driven gears, which in turn drive two drive screws to rotate. The drive screws are threadedly connected to the moving boxes, and under the action of transmission, they drive the two moving boxes to move synchronously. The moving boxes drive the moving tube to move inside the support tube, thereby achieving further adjustment of the position of the clamping mechanism. When the clamping mechanism is close to the seabed ore, the electric push rod is activated. The output shaft of the electric push rod pushes the moving frame to move on the slide rail. The moving frame drives multiple moving rods to move, and the connecting rods on the moving rods drive the adjusting frame to rotate. The adjusting frame drives the fixed claws to move, so that the multiple fixed claws come together and clamp and position the seabed ore from different directions to prevent slippage, thus completing the clamping and collection of the seabed ore.

[0015] Beneficial effects: In this invention, the gripping device for the seabed mining vehicle can be rotatably connected to the first connecting frame via an adjustable mechanism, and the second connecting frame can be rotatably connected to the support pipe. This allows for convenient adjustment of the position of the gripping mechanism. At the same time, by starting the first drive motor and the second drive motor, the gripping mechanism can be rotatably adjusted to the connecting plate and the support pipe, respectively. This allows the position of the gripping mechanism to be adjusted according to the position of the seabed ore when gripping and collecting it. In this invention, the gripping device for the seabed mining vehicle, through a moving mechanism, can drive the transmission components to move by starting a stepper motor, thereby driving the two moving boxes to move to the outside or inside the support tube, thereby driving the moving tube to move, thus enabling the position of the gripping mechanism to be moved and adjusted, so as to facilitate the gripping and collection of seabed ore using the gripping mechanism. In this invention, the gripping device for the seabed mining vehicle, through the gripping mechanism, can drive multiple adjusting frames to rotate by activating the power component. In this way, when gripping seabed ore, multiple fixed claws can be driven to move closer to each other at the same time, thereby using multiple fixed claws to grip and position the seabed ore. Furthermore, the multiple fixed claws can grip the seabed ore from different directions, avoiding the problem of slippage when gripping the seabed ore. This invention enables initial position adjustment of the clamping mechanism, and further precise positioning through stepper motor drive, effectively addressing positioning deviations caused by ocean current disturbances; multiple fixed claws clamp from different directions with high fit; the power component can flexibly adjust the gripping force to prevent minerals from slipping or being crushed, thus improving the efficiency and reliability of seabed ore clamping and collection. Attached Figure Description

[0016] Figure 1 This is a first-view three-dimensional structural schematic diagram of the grabbing device for seabed mining vehicles proposed in this invention. Figure 2 This is a three-dimensional schematic diagram of the second-view structure of the grabbing device for the seabed mining vehicle proposed in this invention. Figure 3 This is a three-dimensional schematic diagram of the separation structure of the first and second protective covers of the grabbing device for seabed mining vehicles proposed in this invention. Figure 4 This is a three-dimensional cross-sectional schematic diagram of the support tube and moving tube of the grabbing device for seabed mining vehicles proposed in this invention. Figure 5 This is a three-dimensional schematic diagram of the electric push rod, the moving frame, and the connection structure of multiple fixed claws of the grabbing device for seabed mining vehicles proposed in this invention. Figure 6 This is a three-dimensional schematic diagram of the connection structure of the moving rod, two connecting rods and the fixed claw of the grabbing device for the seabed mining vehicle proposed in this invention. Figure 7 This is a three-dimensional schematic diagram of the connection structure of the stepper motor, bevel gear ring, and two transmission screws of the gripper device for seabed mining vehicles proposed in this invention.

[0017] In the diagram: 1. Mounting plate; 2. First connecting frame; 3. First drive motor; 4. Connecting plate; 5. Second connecting frame; 6. Second drive motor; 7. Support tube; 8. Moving tube; 9. Slide rail; 10. Moving frame; 11. Mounting frame; 12. Electric push rod; 13. Moving rod; 14. Connecting seat; 15. Connecting ear plate; 16. Adjusting frame; 17. Fixing claw; 18. Connecting rod; 19. Moving box; 20. Transmission screw; 21. Driven gear; 22. Transmission shaft; 23. Connecting bevel gear; 24. Drive bevel gear; 25. Stepper motor; 26. Bevel ring; 27. First protective cover; 28. Second protective cover. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0019] Example 1: Refer to Figure 1-7A gripping device is disclosed, which is integrally mounted on a seabed mining vehicle for gripping seabed ore. The device uses a mounting plate 1 as the basic mounting component. A first connecting frame 2, which has a rectangular frame structure, is fixedly mounted on one side of the mounting plate 1. A connecting plate 4, which is also a rectangular plate structure, is rotatably connected to the first connecting frame 2 via bearings. One side of the connecting plate 4 extends to the outside of the first connecting frame 2, and a second connecting frame 5, also a rectangular frame structure, is fixedly mounted on the extended portion. A support tube 7, which is a hollow cylinder, is rotatably connected to the second connecting frame 5 via bearings.

[0020] like Figure 1-3 As shown, a first drive motor 3 is fixedly installed on the first connecting frame 2. The output shaft of the first drive motor 3 extends into the first connecting frame 2 and is fixedly connected to the connecting plate 4 via a coupling. A second drive motor 6 is fixedly installed on one side of the second connecting frame 5. The output shaft of the second drive motor 6 extends into the second connecting frame 5 and is fixedly connected to one side of the support tube 7 via a coupling. When it is necessary to adjust the position of the clamping mechanism, the first drive motor 3 is started, and its output shaft drives the connecting plate 4 to rotate within the first connecting frame 2, thereby driving the second connecting frame 5 to rotate; the second drive motor 6 is started, and its output shaft drives the support tube 7 to rotate within the second connecting frame 5. This allows for multi-angle adjustment of the clamping mechanism's position, facilitating precise positioning based on the location of the seabed ore.

[0021] like Figure 3 As shown, to protect the first drive motor 3 and the second drive motor 6, a first protective cover 27 is fixedly installed on the first connecting frame 2. The first protective cover 27 is a closed shell structure that completely encloses the first drive motor 3. A second protective cover 28 is fixedly installed on one side of the second connecting frame 5. The second protective cover 28 is also a closed shell structure that completely encloses the second drive motor 6. When mining ore on the seabed, the first protective cover 27 and the second protective cover 28 can prevent seawater, silt, and other impurities from entering the drive motors, ensuring the stable operation of the first drive motor 3 and the second drive motor 6.

[0022] like Figure 4 As shown, a moving mechanism is installed inside the support tube 7, and a moving tube 8 is slidably connected inside the support tube 7. The moving tube 8 is a hollow cylinder with an outer diameter slightly smaller than the inner diameter of the support tube 7. A stepper motor 25 is fixedly mounted on the inner wall of one side of the support tube 7 by bolts, and a gear component is mounted on the output shaft of the stepper motor 25. Moving boxes 19 are fixedly mounted on both sides of the moving tube 8 by bolts. Both moving boxes 19 are rectangular box structures and are slidably connected to the inner wall of the support tube 7.

[0023] like Figure 7As shown, the transmission assembly includes two transmission screws 20, each located within a movable housing 19. One end of each screw penetrates one inner wall of its corresponding movable housing 19 and extends into the support tube 7. The transmission screws 20 are threadedly connected to the inner walls of the movable housing 19. Both transmission screws 20 are rotatably connected to the inner wall of the support tube 7 via bearings. The gear assembly includes a bevel ring 26 fixedly mounted on the output shaft of the stepper motor 25. Transmission shafts 22 are rotatably connected to both inner walls of the support tube 7 via bearings. Drive bevel gears 24 are fixedly mounted at their closest points on the two transmission shafts 22, and both drive bevel gears 24 mesh with the bevel ring 26. A connecting bevel gear 23 is fixedly sleeved on the transmission shaft 22. A driven gear 21 is fixedly mounted at one end of each transmission screw 20, and the connecting bevel gear 23 meshes with the corresponding driven gear 21.

[0024] When the position of the clamping mechanism needs to be adjusted, the stepper motor 25 is started. Its output shaft drives the bevel gear ring 26 to rotate. The bevel gear ring 26, through meshing with two drive bevel gears 24, drives two drive shafts 22 to rotate. The drive shafts 22 drive the connecting bevel gear 23 to rotate. The connecting bevel gear 23, through meshing with the driven gear 21, drives two drive screws 20 to rotate simultaneously. Since the drive screws 20 are threadedly connected to the moving box 19, when the drive screws 20 rotate, they drive the two moving boxes 19 to move synchronously to the outside or inside of the support tube 7, thereby driving the moving tube 8 to move. This achieves the adjustment of the position of the clamping mechanism, facilitating the gripping of seabed ore at different locations.

[0025] This application can be used in the field of seabed mining technology, or in other fields applicable to this application.

[0026] Example 2: Reference Figure 4-5 Based on Embodiment 1, an improvement is made to a gripping device for a seabed mining vehicle, which is applied to the field of seabed mining technology. The gripping mechanism is fixedly installed on one side of the moving tube 8, and the connecting seat 14 is fixedly installed on the same side of the moving tube 8 by bolts. Multiple connecting ear plates 15 are fixedly installed at equal intervals on the connecting seat 14. The connecting ear plates 15 are rectangular plate structures. Each connecting ear plate 15 is rotatably connected to an adjusting frame 16 via a pin. The adjusting frame 16 is a rod structure, and a fixing claw 17 is fixedly installed on the adjusting frame 16. The fixing claw 17 is an arc structure used to grip seabed ore.

[0027] like Figure 4-5As shown, a power assembly is installed inside the moving tube 8. A mounting frame 11 is bolted to the moving tube 8. Multiple slide rails 9 are fixedly mounted at equal intervals on the mounting frame 11, and the same moving frame 10 is slidably connected to the slide rails 9. The moving frame 10 has a rectangular frame structure. Multiple moving rods 13 are fixedly mounted at equal intervals on one side of the moving frame 10. All moving rods 13 pass through and are slidably connected to the connecting seat 14. Two connecting rods 18 are symmetrically rotatably connected to one end of each moving rod 13 on one side of the connecting seat 14. One end of each connecting rod 18 is rotatably connected to the two sides of the adjusting frame 16 via pins. An electric push rod 12 is bolted to one side of the mounting frame 11. The output shaft of the electric push rod 12 passes through the mounting frame 11 and is fixedly connected to the other side of the moving frame 10 via a coupling.

[0028] When it is necessary to clamp the seabed ore, the electric push rod 12 is activated. Its output shaft drives the moving frame 10 to move on the slide rail 9. The moving frame 10 drives multiple moving rods 13 to move. The moving rods 13 drive the adjusting frame 16 to rotate around the connecting ear plate 15 through two connecting rods 18, so that multiple fixed claws 17 move closer to each other. Thus, multiple fixed claws 17 are used to clamp and position the seabed ore from different directions, avoiding slippage during clamping and improving gripping stability.

[0029] However, as is well known to those skilled in the art, the working principles and wiring methods of the first drive motor 3, the second drive motor 6, the electric push rod 12, and the stepper motor 25 are commonplace and are all conventional methods or common knowledge. They will not be described in detail here. Those skilled in the art can make any selections according to their needs or convenience.

[0030] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A gripper device for a seabed mining vehicle, comprising a mounting plate (1), characterized in that, The adjusting mechanism is installed on the mounting plate (1), and the grabbing device further comprises: A support pipe (7) installed on the adjusting mechanism; A moving mechanism arranged in the support pipe (7), wherein the moving mechanism is connected with a clamping mechanism, and one side of the clamping mechanism extends to the outside of the mounting plate (1); The clamping mechanism is preliminarily adjusted in position by the adjusting mechanism according to the position of the seabed ore, the clamping mechanism is driven to move by the moving mechanism for further positioning, and the seabed ore is clamped from different directions by the plurality of fixing claws (17) of the clamping mechanism, so as to avoid deviation and slipping during grabbing.

2. The gripper device for a seabed mining vehicle according to claim 1, characterized in that The adjusting mechanism comprises a first connecting frame (2) fixedly connected to one side of the mounting plate (1), a connecting plate (4) rotatably connected in the first connecting frame (2), a second connecting frame (5) fixedly connected to one side of the connecting plate (4), and a support pipe (7) rotatably connected in the second connecting frame (5), wherein the first connecting frame (2) is fixedly connected with a first driving motor (3), the output shaft of the first driving motor (3) extends into the first connecting frame (2) and is fixedly connected with the connecting plate (4), and one side of the second connecting frame (5) is fixedly connected with a second driving motor (6), the output shaft of the second driving motor (6) extends into the second connecting frame (5) and is fixedly connected with one side of the support pipe (7); The first driving motor (3) and the second driving motor (6) are respectively driven to rotate the connecting plate (4) and the support pipe (7) to adjust the position of the clamping mechanism.

3. The gripper device for a seabed mining vehicle according to claim 2, characterized in that The first connecting frame (2) is fixedly connected with a first protective cover (27) for protecting the first driving motor (3), and one side of the second connecting frame (5) is fixedly connected with a second protective cover (28) for protecting the second driving motor (6); When the seabed ore is collected, the first driving motor (3) and the second driving motor (6) are ensured to operate stably through the first protective cover (27) and the second protective cover (28).

4. The grab device for a seabed mining vehicle according to claim 1, characterized in that The moving mechanism comprises a moving pipe (8) slidably connected in the support pipe (7), a stepping motor (25) fixedly connected to the inner wall of one side of the support pipe (7), a transmission assembly connected to the output shaft of the stepping motor (25), and two moving boxes (19) fixedly connected to the two sides of the moving pipe (8), wherein the two moving boxes (19) are slidably connected with the inner wall of the support pipe (7), and the transmission assembly extends into the two moving boxes (19) and is connected with the inner wall of one side of the moving box (19); The transmission assembly is driven by the stepping motor (25) to drive the moving box (19) and the moving pipe (8) to move, so as to adjust the position of the clamping mechanism.

5. The gripper device for a seabed mining vehicle according to claim 4, characterized in that The transmission assembly comprises two transmission screws (20), wherein the two transmission screws (20) are respectively located in the two moving boxes (19), one end of the transmission screw (20) penetrates through the inner wall of one side of the moving box (19) and extends into the support pipe (7), the transmission screw (20) is threadedly connected with the inner wall of one side of the moving box (19), and the two transmission screws (20) are rotatably connected with the inner wall of the support pipe (7); a gear member is mounted on the output shaft of the stepping motor (25), and the gear member is connected with one end of the two transmission screws (20); The gear member is driven by the stepping motor (25) to drive the transmission screw rod (20) to rotate, thereby driving the moving box (19) to move.

6. The grab device for a seabed mining vehicle according to claim 5, characterized in that The gear member comprises a bevel gear ring (26) fixedly connected to the output shaft of the stepping motor (25), two transmission shafts (22) rotatably connected to the inner walls on both sides of the support pipe (7), two drive bevel gears (24) fixedly connected to one ends of the transmission shafts (22), a connecting bevel gear (23) fixedly sleeved on the transmission shaft (22), and a driven gear (21) fixedly connected to one end of the transmission screw rod (20), wherein the two drive bevel gears (24) are engaged with the bevel gear ring (26), and the connecting bevel gear (23) is engaged with the corresponding driven gear (21). The transmission shafts (22) and the connecting bevel gear (23) are driven to rotate by the engagement transmission of the bevel gear ring (26) and the drive bevel gears (24), so as to drive the driven gear (21) and the transmission screw rod (20) to rotate.

7. The grab device for a seabed mining vehicle according to claim 1, characterized in that The clamping mechanism comprises a connecting seat (14) fixedly connected to one side of the moving pipe (8), a plurality of connecting ear plates (15) fixedly connected to the connecting seat (14) at equal intervals, an adjusting frame (16) rotatably connected to the connecting ear plate (15), a fixed claw (17) fixedly connected to the adjusting frame (16), and a power assembly arranged in the moving pipe (8), one side of the power assembly extending through the connecting seat (14) and extending to one side of the connecting seat (14), and one side of the power assembly being connected with the plurality of adjusting frames (16) respectively. The adjusting frames (16) are driven to rotate by the power assembly, so that the plurality of fixed claws (17) are close to each other, and the seabed ore is clamped from different directions.

8. The grab device for a seabed mining vehicle according to claim 7, characterized in that The power assembly comprises a mounting frame (11) fixedly connected to the moving pipe (8), a plurality of sliding rails (9) fixedly connected to the mounting frame (11) at equal intervals, a moving frame (10) slidably connected to the plurality of sliding rails (9), a plurality of moving rods (13) fixedly connected to one side of the moving frame (10) at equal intervals, and an electric push rod (12) fixedly connected to one side of the mounting frame (11), wherein the plurality of moving rods (13) extend through the connecting seat (14) and are slidably connected with the connecting seat (14), one end of the moving rod (13) located at one side of the connecting seat (14) is symmetrically rotatably connected with two connecting rods (18), one ends of the two connecting rods (18) are rotatably connected with two sides of the adjusting frame (16) respectively, and an output shaft of the electric push rod (12) extends through the mounting frame (11) and is fixedly connected with the other side of the moving frame (10). The moving frame (10) is driven to move by the electric push rod (12), so as to drive the moving rod (13) and the connecting rod (18) to move, thereby driving the adjusting frame (16) and the fixed claw (17) to rotate.

9. A gripper device for a seabed mining vehicle according to any one of claims 1 to 8, characterized in that, The fixed claw (17) has an arc-shaped structure, and a plurality of fixed claws (17) are arranged at equal intervals to increase the fitting area with the seabed ore and avoid slipping.

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