Mother-son type deep sea mining vehicle

Abstract

The invention relates to a primary-secondary type deep-sea mining vehicle, which belongs to the technical field of underwater operation equipment and comprises a primary vehicle body for transportation and a plurality of collection secondary vehicles which are loaded in the primary vehicle body, are uniformly allocated by the primary vehicle body, can be separated from the primary vehicle body and independently complete mining operation. A decoupling design concept is adopted, a complete mining operation process is divided into a parallel collection part and a centralized recovery part, a corresponding mining device is improved into a child-mother type, a large number of child vehicles focus on ore collection and terrain adaptation, and the adopted parallel collection operation mode is more suitable for distributed deep sea mining areas such as multi-metal nodules and the like; the mother vehicle body is responsible for dispatching, storing, putting and recycling of the son vehicles and is also responsible for overall propelling and advancing attitude control, the parallel acquisition mode remarkably improves the operation efficiency in the aspects of space, time and resource allocation, and the mutually independent acquisition son vehicles greatly improve the error-tolerant rate of the whole mining vehicle system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater operation equipment, in particular to a letter type deep sea mining vehicle. BACKGROUND

[0002] Deep sea contains rich mineral resources, and deep sea mining has become a hot research direction of energy, and deep sea mining vehicle is the key equipment to realize mining operation. The current mainstream deep sea mining vehicle generally adopts integrated design, which integrates collection, walking, recovery and other functions in a single vehicle body, although it improves the compactness of the structure, but also increases the complexity and design difficulty of the system. More importantly, this highly integrated design scheme leads to low fault tolerance, and the mining result presents duality, either full system normal operation to realize full load mining, or overall failure due to failure of a module, which undoubtedly increases the challenge to the high-risk operation scene of deep sea mining.

[0003] To solve this problem, the modularized mother-son mining vehicle scheme realizes more efficient mining operation through function decoupling. The design allocates core functions to different vehicle bodies: the son vehicle focuses on ore collection and terrain crossing, improving the adaptability of the mining area; the mother vehicle body is responsible for centralized storage, son vehicle launching and recovery, and optimizing energy utilization. Multiple son vehicles can work simultaneously in different areas and be uniformly recovered by the mother vehicle body, greatly improving the mining efficiency. Unlike the "all or nothing" operation mode of integrated design, the mother-son mining vehicle allows the mining result to present a continuous distribution, and the failure of part of the son vehicle will not cause the entire system to fail, only the demand for part of the son vehicle loss or rescue, which significantly enhances the robustness of the system.

[0004] Therefore, the present application provides a mother-son deep sea mining vehicle. SUMMARY

[0005] The purpose of the present application is to provide a mother-son deep sea mining vehicle to solve the problems in the prior art.

[0006] To solve the above problems, the present application adopts the following technical scheme: A mother-son deep sea mining vehicle, comprising a mother vehicle body for transportation, and a plurality of collection son vehicles loaded in the mother vehicle body and uniformly deployed by the mother vehicle body, and can be separated from the mother vehicle body and independently complete the mining operation.

[0007] Preferably, the mother vehicle body comprises a containing part for loading the collection son vehicle; a driving part for providing power to drive the containing part to move, and a guiding part for controlling the moving direction of the containing part in the sea.

[0008] Preferably, the accommodating part is a shell with a closed cavity, the shell has at least one surface for stable placement in the working area, the surface is set as the bottom surface of the shell, the shell is provided with an entrance and an exit on the side surface, and a hatch is arranged to open and close the entrance and the exit, and the collection sub-cars enter and exit the shell through the entrance and the exit.

[0009] Preferably, the shell has two cylindrical wall surfaces arranged concentrically and nested inside and outside, the axial end portions of the two cylindrical wall surfaces are sealingly connected to an integrally formed cavity, the two cylindrical wall surfaces are respectively the outer ring surface and the inner ring surface of the shell, the driving part is arranged on the inner ring surface of the shell, and the guiding part is arranged on the outer ring surface of the shell.

[0010] Preferably, the driving part is a shaftless propeller, the shaftless propeller comprises a bearing and a paddle, the bearing is installed on the inner ring surface of the shell and is controlled by a motor, and the paddle is installed on the inner wall surface of the bearing.

[0011] Preferably, the guiding part is a plurality of guiding wings which are equidistantly distributed along the circumference of the outer ring surface of the shell and connected to the outer ring surface.

[0012] Preferably, each guiding wing comprises a straight flow guide plate and a rudder blade which is connected to the flow guide plate and can rotate freely.

[0013] Preferably, a guide rail is arranged in the shell and spirally rises to the top of the shell, and the collection sub-cars can travel along the guide rail.

[0014] Preferably, each collection sub-car comprises a walking part, a storage part and a working part.

[0015] Preferably, the walking part is one of a caterpillar type, a propelling type and a wheel type, and the working part is one of a suction type, a mechanical arm type and a drilling and mining type.

[0016] The above technical solution provided by the present application adopts a decoupling design concept, divides a complete mining operation process into two parts of parallel collection and centralized recovery, and improves the corresponding mining device into a mother-daughter type, a large number of sub-cars are dedicated to ore collection and terrain adaptation, and a parallel collection operation mode is more suitable for distributed deep sea mining areas such as polymetallic nodules, the mother car body is responsible for the scheduling, storage, release and recovery of the sub-cars, and is also responsible for the overall propulsion and traveling posture control, compared with the prior art, the present application has the following beneficial effects: 1. Parallel collection mode significantly improves work efficiency from space, time and resource allocation. Firstly, several collection sub-cars are put into a mining area and collect synchronously, which can significantly expand the actual work area from space. Secondly, unlike the traditional integrated mine car, it does not need to move back and forth to complete the collection of the whole mining area, which eliminates the waste caused by invalid path from time. Finally, the unified scheduling of the mother car body can put the appropriate number of collection sub-cars for different areas of the mine, maximize the use of collection sub-cars, and also reduce the energy consumption of repeated deployment and recovery. 2. A large number of independent collection sub-cars significantly enhance the fault tolerance of the system. Different collection sub-cars have no strong correlation in mechanical structure or signal control, so a partial failure of a collection sub-car does not affect the overall operation, avoiding the embarrassing situation of traditional integrated equipment "pulling a whole body", breaking the traditional "all or nothing" binary mining results, and significantly enhancing the fault tolerance of the system. 3. The structure of the shell cooperates with the shaftless propeller to significantly optimize the hydrodynamic performance of the device. The middle part of the annular shell has a hollow flow channel, which automatically forms a fairing cooperating with the shaftless propeller, guides the water flow to make it more concentrated to the shaftless propeller, facilitates the suction and emission of the shaftless propeller, provides power for the device, significantly improves the driving efficiency, and optimizes the hydrodynamic performance of the device. 4. The structure of the shell and the design of the guide rail significantly optimize the utilization of the internal space of the device. The spiral winding guide rail perfectly matches the annular shell, allowing more collection sub-cars to be arranged compactly in a limited space, improving the effective capacity of the device.

[0017] 5. The structure of the collection sub-car is simplified, which only has the functions of collection and walking. The specialization of functions significantly improves the work efficiency of a single collection sub-car, while the structure is compressed, allowing the mother car body to carry more collection sub-cars, thereby improving the overall work efficiency of the device. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the overall structure diagram of the mother car body of the embodiment of the present application. Figure 2 It is the top view schematic diagram of the mother car body of the embodiment of the present application. Figure 3 It is the partial sectional view schematic diagram of the mother car body of the embodiment of the present application. Figure 4 It is the overall structure schematic diagram of the collection sub-car of the embodiment of the present application. Figure 5 It is the schematic diagram of the empty load state of the embodiment of the present application. Figure 6 It is the schematic diagram of the full load state of the embodiment of the present application.

[0019] Reference signs: 1, mother car body; 11, outer ring surface; 12, shell top; 13, inner ring surface; 14, base; 15, hatch; 151, hatch joint; 152, hatch clamping groove; 16, hatch slide rail; 2, guide wing; 21, deflector; 22, rudder blade; 23, rudder; 3, shaftless propeller; 31, propeller blade; 32, propeller bearing; 4, track; 41, straight section; 42, spiral section; 5, collection sub-car; 51, sub-car ore cabin; 52, hydraulic ore suction pipe; 53, ore suction collection head; 54, walking track; 55, car frame. DETAILED DESCRIPTION

[0020] For better understanding of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Unless otherwise defined, the technical terms or scientific terms used in the present application should be understood as the common meanings understood by those skilled in the art to which the present application belongs. The terms "first", "second", and similar terms used in the present application do not represent any order, number, or importance, but are only used to distinguish different components. The terms "include" or "contain" and similar terms mean that the components or objects before the terms cover the components or objects listed after the terms and their equivalents, and do not exclude other components or objects. The terms "connect" or "connected" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "up", "down", "left", "right", and the like are only used to represent relative positional relationships, and when the absolute positions of the described objects change, the relative positional relationships can also change accordingly. If a part has a central axis or a hollow chamber, the "inner side" of the part refers to the side of the part close to the central axis of the part or arranged inside the hollow chamber; the "outer side" of the part refers to the side of the part away from the central axis of the part.

[0021] Example one As shown in Figure 1 The present application provides a mother-daughter type deep-sea mining car, which includes a mother car body 1 for transportation, and a plurality of collection sub-cars 5 loaded in the mother car body 1 and uniformly deployed by the mother car body 1, and can be separated from the mother car body 1 and independently complete the mining operation.

[0022] The above technical solution is the core idea of the present application, that is, using decoupling design, improving the complete work flow of the traditional integrated mining vehicle from "moving-collecting-moving-collecting-returning" to parallel collecting and centralized recycling, and correspondingly, improving the mining vehicle structure to a mother-son type to support the design idea of parallel collecting and centralized recycling. The above content is the core difference between the present application and the prior art, and the specific structural technical features will be gradually explained in the following part of the specification.

[0023] Firstly, the mother vehicle body 1 mainly includes three modules, one is a containing part for loading the collecting son vehicle 5, the second is a driving part for providing power to the containing part to drive it to move in the sea, and the third is a guiding part for controlling the moving direction of the containing part in the sea. Since the present application adopts the working idea of parallel collecting and centralized recycling, the mother vehicle body 1 only undertakes the scheduling, storage, launching and recycling of the collecting son vehicle 5, and is responsible for the overall propulsion and posture control. The present application integrates the above content into three modules, the containing part is responsible for the scheduling, storage, launching and recycling of the collecting son vehicle 5, the driving part and the guiding part are responsible for the overall propulsion and posture control. Although the three modules are integrated into one, they work independently and do not affect each other, and the working effect of each module realizes all the contents required by the mother vehicle body 1, further supporting the decoupling design idea of the present application, making the system more flexible and having high fault tolerance.

[0024] Specifically, the containing part is a shell with a closed cavity, the shell has at least one surface for stable placement in the working area, the surface is set as the bottom surface of the shell, the side surface of the shell is provided with an entrance and exit, and a hatch door 15 is arranged to open and close the entrance and exit. The collecting son vehicle 5 enters and exits the shell through the entrance and exit. The present application uses a simple and effective way to schedule, store, launch and recycle the collecting son vehicle 5. The closed cavity provides space for containing the collecting son vehicle 5, and the shell provides protection and bearing effect. The specially designed bottom surface ensures that the mother vehicle body 1 can be stably placed on the ground in the mining area after reaching the working area, providing good working conditions for the subsequent launching and recycling of the collecting son vehicle 5. The opening and closing hatch door 15 cooperates with the entrance and exit to complete the launching and recycling, and the overall structure frame is simple, efficient and clear.

[0025] Embodiment two In this embodiment, the shape of the shell is designed as Figure 2 and Figure 3As shown, a shell of annular columnar shape is obtained, specifically, the shell first includes a set of concentric and nested cylindrical structures, the axial end faces of the two cylindrical structures are flush, one end is sealed via a disc-shaped base 14, which becomes the bottom surface of the shell, the other end is sealed by a ring-shaped pipeline structure with a semicircular cross section, which becomes the shell top 12. After sealing, the two cylindrical structures together form four columnar wall surfaces, one set of wall surfaces formed by the two cylindrical structures approaching each other automatically becomes the inner wall of the sealed shell, and the spacing caused by the diameter difference cooperates with the upper end surface of the base and the inner pipe surface of the ring-shaped pipeline to form a cavity for accommodating the collection sub-car 5, and the other two columnar wall surfaces formed by the two cylindrical structures moving away from each other form the outer ring surface 11 and the inner ring surface 13 of the shell.

[0026] The driving part is assembled to the inner ring surface 13 of the shell, specifically the bottom of the inner ring surface 13, and the guiding part is assembled to the outer ring surface 11 of the shell, that is, when advancing, the shell top 12 faces the advancing direction of the device. The above design used in this embodiment forms a power mode of internal driving and external guiding. Since the driving part is installed on the inner ring surface 13 of the annular shell, the torque transmission is more direct, and the annular shell can protect it. The shell top 12 adopts a ring-shaped pipe structure with a semicircular cross section, which can effectively reduce resistance when advancing.

[0027] Further, the driving part is provided as Figure 2 As shown, the shaftless propeller 3 is selected, which includes a bearing 32 and a paddle 31. The bearing 32 is concentrically arranged in the hollow channel formed by the inner ring surface 13 of the shell, and the outer periphery is in transmission connection with the inner ring surface 13 of the shell. The paddle 31 adopts a multi-piece design, and in this embodiment, three paddles 31 are used, which are installed at equal intervals on the inner periphery of the bearing 32. The shaftless propeller 3 relies on electromagnetic induction to operate, and its basic principle belongs to the prior art and is not within the protection scope of the present application, so its principle will not be described in detail here. When the shaftless propeller 3 starts, the paddle 31 rotates to drag the water flow to generate power. At this time, the hollow channel formed by the inner ring surface 13 of the shell becomes a water flow channel, and additionally has the function of a flow guide cover. Under the action of the shell, the backward water flow can more smoothly and more concentratedly enter the shaftless propeller 3, thereby significantly improving the propelling efficiency.

[0028] The shell shape used in this embodiment matches the shaftless propeller 3, which simplifies the structure of the mother car body 1, eliminates the complex transmission structure of the traditional power system, ensures the utilization rate of the internal space of the shell, and at the same time, the shape of the shell and the working principle of the shaftless propeller 3 are matched, which additionally plays the role of a flow guide cover, further optimizes the power system of the mother car body 1, and makes the mother car body 1 more advanced in the functions of loading and overall propulsion.

[0029] In addition, the guide part is a plurality of guide wings 2 distributed along the circumference of the outer ring surface 11 of the shell and connected thereto. Specifically, each guide wing 2 includes a flat flow guide plate 21 and a rudder blade 22 connected to the flow guide plate 21 and freely rotatable. The flow guide plate 21 is fixedly connected to the shell along the generatrix of the outer ring surface 11 of the shell body and has a slope at the end to reduce resistance in the forward direction of the mother vehicle body 1. The rudder blade 22 is connected to the tail of the flow guide plate 21 through a rudder stem 23. By controlling the rotation direction and specific rotation angle of the rudder blade 22, the traveling direction of the mother vehicle body 1 is changed.

[0030] Embodiment Three As shown in Figure 5 and Figure 6 In this embodiment, the difference from the previous embodiment is that a vehicle track 4 is arranged in the shell and spirally rises to the top of the shell. Specifically, the vehicle track 4 is divided into a shorter straight section 41 and a longer spiral section 42. The straight section 41 is used to connect the inlet and outlet and the spiral section 42. The straight section 41 is arranged obliquely, with the lower end connected to the inlet and outlet. After the collection sub-vehicle 5 enters the shell from the inlet and outlet, it enters the spiral section 42 along the straight section 41 and spirally rises while continuously advancing. In particular, the pitch of the spiral section 42 of the vehicle track 4 needs to be greater than the maximum longitudinal height of the collection sub-vehicle 5, so as to ensure that the collection sub-vehicle 5 can smoothly walk on the spiral section 42. With this design, the shape of the shell can be perfectly adapted, and the internal space of the shell can be maximally utilized to store more collection sub-vehicles 5. The spiral vehicle track 4, in combination with the advancing means of the collection sub-vehicle 5, can automatically recycle and store the collection sub-vehicles 5 without any other lifting means. A large number of collection sub-vehicles 5 can also be stacked in the longitudinal direction, as shown in Figure 6 This ensures that the mother vehicle body 1 can densely store more collection sub-vehicles 5. The release of the collection sub-vehicles 5 is also realized by their own advancing means, which only need to reversely advance along the spiral vehicle track 4.

[0031] In addition, the hatch 15 is also designed to adapt to the shape of the shell. Specifically, the hatch 15 is an arc-shaped plate that is attached to and slidingly connected to the outer ring surface 11 of the shell and opens and closes the inlet and outlet. To ensure smooth and stable sliding, a ring-shaped hatch sliding rail 16 is arranged on the base 114. The lower end of the hatch 15 is slidingly connected to the hatch sliding rail 16 and can slide along the hatch sliding rail 16 around the outer ring surface 11 of the shell. To ensure the stability of the hatch 15 in the closed state, a hatch joint 151 is arranged on the side of the hatch 15 and a hatch clamping groove 152 is correspondingly arranged on the shell. When sliding to the position of closing the inlet and outlet, the hatch joint 151 and the hatch clamping groove 152 are adaptively connected to maintain the inlet and outlet in the closed state.

[0032] The design adopted in this embodiment further improves the functions of the mother car body 1 and the collection vehicle 5. The mother car body 1 does not need to be equipped with additional handling or lifting devices to complete the collection and release of the collection vehicle 5. It can automatically complete the collection and release by relying solely on the provided track 4 and the walking function of the collection vehicle 5. The mother car body 1 and the collection vehicle 5 seem to be independent but can work together, which further supports the decoupling design concept of the present invention.

[0033] Example 4 In this embodiment, each collection vehicle 5 consists of a walking section, a storage section, and a working section. The walking section can be tracked, propulsion, wheeled, etc.; the working section can be suction type, robotic arm type, drilling type, etc.

[0034] Specifically, such as Figure 4 As shown, in this embodiment, the walking part of the mining vehicle 5 is tracked, and the working part is suction-driven. The whole includes a mining compartment 51, a pair of hydraulic suction pipes 52, a mining head 53, a frame 55, and a track system 54 at the bottom of the frame. The frame is mounted at the bottom of the mining compartment 51 and moves by means of the track system 54. The hydraulic suction pipe 52 is located at the front end of the mining compartment 51 in the direction of travel, connecting to the interior of the mining compartment 51, and the other end hangs down and the mining head 53 is installed at the end. In particular, the track system 54, the hydraulic suction pipe 52, and the mining head 53 are all common structures of mining vehicles in the art and belong to common knowledge technology. Their principles and internal structures are not within the protection scope of this invention and will not be described in detail here. The overall structure of the mining vehicle 5 provided in this embodiment is concise and effective, with only walking and mining functions. It is under the unified scheduling of the mother vehicle body 1 and can carry out parallel mining in an entire mining area, and is centrally recovered by the mother vehicle body 1.

[0035] Example 5 This embodiment provides a specific workflow for a mother-daughter type deep-sea mining vehicle.

[0036] Firstly, the mother vehicle body 1 reaches the designated mining area with the full load of the collection sub-vehicles 5, adjusts the posture and stably stops at the surface of the working area, then the mother vehicle body 1 opens the hatch 15, the collection sub-vehicles 5 travel along the vehicle track 4 and drive out of the mother vehicle body 1 through the hatch 15 to enter the mining area, the collection routes or areas of the collection sub-vehicles 5 are uniformly controlled by the mother vehicle body 1, and the mining area is collected by multiple vehicles in parallel, for example, after the mother vehicle body 1 stops in the mining area, the collection sub-vehicles 5 are dispersed to different locations in the mining area with the mother vehicle body 1 as the center, the collection sub-vehicles 5 that are first out of the hatch travel to a far place to collect, and after the collection sub-vehicles 5 complete the collection, they return to the mother vehicle body 1, drive into the mother vehicle body 1 through the hatch 15, travel along the vehicle track 4 and stop evenly, after all the collection sub-vehicles 5 are recovered, the hatch 15 is closed, the mother vehicle body 1 starts the driving part and leaves the mining area, and during the return process, the posture adjustment and route control are performed by controlling the rudder angle of the rudder vane 22.

[0037] In particular, if part of the collection sub-vehicles 5 fails to return to the mother vehicle body 1 during the recovery process, the overall recovery process will not be affected, and the other collection sub-vehicles can still return to the mother vehicle body 1 normally, and after all the recoverable collection sub-vehicles 5 are recovered, the mother vehicle body 1 returns, and the faulty collection sub-vehicles 5 are recovered by other rescue means, which does not affect the overall mining results.

[0038] As described above, the above technical solution provided by the present application adopts a decoupling design concept, divides the complete mining operation process into parallel collection and centralized recovery, and improves the corresponding mining device into a mother-son type, a large number of sub-vehicles focus on ore collection and terrain adaptation, and the parallel collection operation mode is more suitable for distributed deep-sea mining areas such as polymetallic nodules, the mother vehicle body 1 is responsible for the scheduling, storage, release and recovery of the sub-vehicles, and is also responsible for the overall propulsion and travel posture control, compared with the prior art, the present application has the following beneficial effects: 1. The parallel collection mode significantly improves the operation efficiency from the aspects of space, time and resource allocation, firstly, a plurality of collection sub-vehicles 5 are released into a mining area and collect synchronously, which can significantly expand the actual operation area from the space; secondly, unlike the traditional integrated mining vehicle, it does not need to move back and forth a lot to complete the collection of an entire mining area, which eliminates the waste caused by invalid paths from the time, and finally, the unified scheduling of the mother vehicle body 1 can release a proper number of collection sub-vehicles 5 to different areas of the mining area, maximize the use of collection sub-vehicles 5, and also reduce the energy consumption of repeated release and recovery; 2. A large number of independent collection sub-cars 5 significantly enhance the fault tolerance of the system, and there is no strong correlation between different collection sub-cars 5 in terms of mechanical structure and signal control, so that a partial failure of the collection sub-car 5 does not affect the overall operation, avoiding the embarrassing situation of traditional integrated equipment "pulling a whole body", breaking the traditional "all or nothing" binary mining results, and significantly enhancing the fault tolerance of the system; 3. The water dynamic performance of the device is significantly optimized by the structure of the shell cooperating with the shaftless propeller 3. The middle part of the annular shell has a hollow flow channel, which automatically forms a fairing cooperating with the shaftless propeller 3, guides the water flow to make it more concentrated to the shaftless propeller 3, facilitates the suction and emission of the shaftless propeller 3, and provides power for the device, significantly improves the driving efficiency, and optimizes the water dynamic performance of the device; 4. The internal space utilization of the device is significantly optimized by the structure of the shell and the design of the car track 4. The spiral winding car track 4 perfectly fits the annular shell, and more collection sub-cars 5 can be arranged compactly in limited space, improving the effective capacity of the device.

[0039] 5. The structure of the collection sub-car 5 is simplified, so that it only has the functions of collection and walking, and the specialization of functions significantly improves the working efficiency of a single collection sub-car 5, while compressing the structure, so that the mother car body 1 can carry more collection sub-cars 5, thereby improving the working efficiency of the device as a whole.

[0040] It should be noted that the multiple embodiments of the present application can be implemented independently or in combination.

[0041] It should be noted that for the present application, the decoupling design concept of supporting parallel collection and centralized recovery is the main invention point, and the shell of the mother car body 1, the shaftless propeller 3, the spiral car track 4 and the collection sub-car 5 are important technical features of the present application. In the specification, some other conventional mechanical structures and connection methods are briefly described or omitted in the specification. In addition, the scheduling of the collection sub-car 5, the starting of the shaftless propeller 3, the control of the rudder blade 22 and the hatch 15 mentioned in the specification are all controlled by electricity or electrical signals. It should be understood that the mother and child type deep sea mining car involved in the present application includes the computer system, signal sensor and receiver, circuit board, wire and other necessary structures for realizing the control of the collection sub-car 5, as well as other structures and components not mentioned but reasonable or known to those skilled in the art in the field of underwater operation equipment technology.

[0042] Finally, it should be noted that the embodiments described are only a part of the embodiments of the present application, rather than all the embodiments. Those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and the purposes of the present application, and the scope of the present application is defined by the claims and their equivalents, i.e. all other embodiments obtained by those skilled in the art on the basis of the embodiments in the present application without making creative labor, belong to the scope of protection of the present application.

Claims

1. A mother-daughter deep sea mining vehicle, characterized in that, The mother vehicle body for transportation, and several collection sub-vehicles loaded in the mother vehicle body, uniformly arranged by the mother vehicle body, and can be separated from the mother vehicle body and independently complete mining operations.

2. A mother-daughter deep sea mining vehicle according to claim 1, wherein, The mother vehicle body includes a containing part for loading the collection sub-vehicles, a driving part for providing power to drive the containing part to move, and a guiding part for controlling the moving direction of the containing part in the sea.

3. A mother-daughter deep sea mining vehicle according to claim 2, wherein, The containing part is a shell with a closed cavity, the shell has at least one surface for stably placing it in the working area, which is set as the bottom surface of the shell, the side surface of the shell is provided with an entrance and exit, and a hatch is arranged to open and close the entrance and exit, and several collection sub-vehicles enter and exit the shell through the entrance and exit.

4. A mother-daughter deep sea mining vehicle according to claim 3, wherein, The shell has two cylindrical wall surfaces arranged concentrically and nested inside and outside, the axial end parts of the two cylindrical wall surfaces are sealingly connected to the integrally formed cavity, the two cylindrical wall surfaces are the outer and inner ring surfaces of the shell respectively, the driving part is assembled on the inner ring surface of the shell, and the guiding part is assembled on the outer ring surface of the shell.

5. A mother-daughter deep sea mining vehicle according to claim 4, wherein, The driving part is a shaftless propeller, the shaftless propeller includes a bearing and a paddle, the bearing is installed on the inner ring surface of the shell and controlled by a motor, and the paddle is installed on the inner wall surface of the bearing.

6. A mother-daughter deep sea mining vehicle according to claim 4, wherein, The guiding part is a plurality of guiding wings distributed equidistantly along the circumference of the outer ring surface of the shell and connected to the outer ring surface.

7. A mother-daughter deep sea mining vehicle according to claim 6, wherein, Each guiding wing includes a straight flow guide plate and a rudder blade connected to the end of the movement direction of the flow guide plate and freely rotatable.

8. A mother-daughter deep sea mining vehicle according to claim 4, wherein, A guide rail is arranged in the shell and spirally rises to the top of the shell and connects to the entrance and exit, and the collection sub-vehicles can travel along the guide rail.

9. A mother-daughter deep sea mining vehicle according to any one of claims 1 to 8, wherein, Each collection sub-vehicle is composed of a walking part, a storage part and a working part.

10. A mother-daughter deep sea mining vehicle according to claim 9, wherein, The walking part is one of a caterpillar type, a propelling type and a wheel type, and the working part is one of a suction type, a mechanical arm type and a drilling type.

Images