Magnetic type deep sea ore collecting device

Abstract

The invention relates to the technical field of deep sea resource development, in particular to a magnetic type deep sea ore collecting device which comprises a rigid pressure-resistant main frame, mechanical legs, mechanical arms, an ore processing module, a communication module, a pushing module and a positioning module. A sealed pressure-resistant cabin is arranged in the rigid pressure-resistant main frame; the mechanical legs are symmetrically installed on the two sides of the rigid pressure-resistant main frame. The mechanical arm is installed on the front end face of the rigid pressure-resistant main frame. The ore processing module is arranged along the center line of the rigid pressure-resistant main frame; the communication module is connected with the water surface support mother ship through an armored cable; the pushing module comprises a plurality of horizontal propellers and a plurality of vertical propellers; the positioning module is installed on the upper side face of the rigid pressure-resistant main frame. The device provided by the invention has the advantages of good terrain adaptability, high collection integrity, small disturbance and reliable operation, and is suitable for selective collection operation of resources in a deep sea complex environment.

Description

Technical Field

[0001] This invention relates to the field of deep-sea resource development technology, specifically to a magnetic deep-sea mineral collection device. Background Technology

[0002] Deep-sea mining operations are facing increasingly stringent requirements for eco-friendliness. Traditional tracked or spiral-driven mechanisms, due to their high ground pressure, are prone to sinking and slipping in soft, sparse sediments. Furthermore, their rigid structures struggle to conform to unstructured seabed contours. Additionally, the turbidity plumes generated during operations severely interfere with visual sensors and damage the seabed environment, making them unsuitable for operations requiring minimal disturbance in complex environments. Moreover, significant dynamic coupling interference exists between the walking, data acquisition, and transport modules, and the control modes are highly decoupled, resulting in poor overall operational stability and low system energy efficiency.

[0003] Therefore, there is an urgent need to develop a deep-sea robot that integrates discrete support, micro-disturbance negative pressure absorption, and environmental adaptation protection to break through the technical bottleneck of green and efficient in-situ collection of deep-sea resources. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a magnetic suction-type deep-sea ore collection device. This invention primarily utilizes the discrete support characteristics of a multi-legged walking mechanism in conjunction with the posture adjustment capability of a thruster, while also incorporating a collection robotic arm equipped with an electromagnetic chuck at its end and an internal negative pressure conveying system. This prevents the equipment from sinking in complex deep-sea terrain and significantly reduces operational disturbance.

[0005] The technical solution adopted in this invention is:

[0006] A magnetic deep-sea ore collection device includes a rigid pressure-resistant main frame, mechanical legs, a mechanical arm, an ore processing module, a communication module, a propulsion module, and a positioning module. The rigid pressure-resistant main frame has a sealed pressure-resistant chamber inside. The mechanical legs are symmetrically installed on both sides of the rigid pressure-resistant main frame. The mechanical arm is installed on the front end face of the rigid pressure-resistant main frame. The ore processing module is arranged along the centerline of the rigid pressure-resistant main frame, and its material inlet is located below the mechanical arm. The communication module is connected to a surface support vessel via an armored cable. The propulsion module includes multiple horizontal thrusters and multiple vertical thrusters. The horizontal thrusters are installed horizontally on the side of the rigid pressure-resistant main frame, and the vertical thrusters are installed on the rigid pressure-resistant main frame and penetrate vertically through it. The positioning module is installed on the upper side of the rigid pressure-resistant main frame.

[0007] Furthermore, the rigid pressure-resistant main frame is provided with multiple standardized physical interfaces, and the rigid pressure-resistant main frame is connected to the mechanical leg, mechanical arm and ore processing module through the standardized physical interfaces.

[0008] Furthermore, the mechanical leg includes a first mechanical leg hinge, a first mechanical leg link, a second mechanical leg hinge, a second mechanical leg link, a third mechanical leg hinge, and a grounding foot; the first mechanical leg link is hinged to the standardized physical interface via the first mechanical leg hinge; the second mechanical leg link is hinged to the first mechanical leg link via the second mechanical leg hinge; and the second mechanical leg link is hinged to the grounding foot via the third mechanical leg hinge.

[0009] Furthermore, the grounding foot includes a grid that runs vertically through the ground to reduce disturbance to seabed sediments during walking.

[0010] Furthermore, the robotic arm includes a first rotating hinge, a first link, a second rotating hinge, a second link, a universal joint, a third link, a third rotating hinge, and an electromagnetic chuck; the first link is hinged to the standardized physical interface via the first rotating hinge; the second link is hinged to the first link via the second rotating hinge, and the second link is hinged to the third link via the universal joint; the third link is hinged to the electromagnetic chuck via the third rotating hinge.

[0011] Furthermore, the ore processing module includes an ore feed inlet, a buffer pipe, a hydrocyclone separator, a grid screen, a buffer chamber, and a storage chamber connected in sequence. The ore feed inlet is located below the robotic arm, and the buffer pipe is inclined.

[0012] Furthermore, the ore processing module also includes a pump, which is mounted on the buffer pipe and used to generate negative pressure suction.

[0013] Furthermore, the communication module is connected to the surface support vessel via an armored cable. The armored cable integrates power transmission wires and an optical fiber communication unit for powering the device and transmitting data bidirectionally in real time.

[0014] Furthermore, the positioning module includes at least two vision sensors, which are mounted on the upper side of the rigid pressure-resistant main frame to acquire image information of the working environment to assist in positioning and navigation.

[0015] Furthermore, the working process of the magnetic deep-sea ore collection device of the present invention includes: the deep-sea ore collection device is lowered by armored cables, and a vertical thruster is used to maintain a horizontal attitude. At the same time, the first and second links of multiple mechanical legs open outward to keep the feet horizontal. Micro-disturbance landing is achieved by adjusting the thruster power. During mining, the hinges of each joint of the robotic arm rotate to align and adhere the end electromagnetic chuck to the target. The electromagnet is energized to generate magnetic force to attract the ore. Then, the first, second, and third links of the robotic arm rotate to move the ore to above the feed inlet in front of the machine body. The electromagnet is de-energized to release the target. At the same time, the pump source starts and uses negative pressure to send the ore through the conveying pipe and cyclone separator into the abdominal storage tank. During walking, the first and second links and telescopic rods of the mechanical legs cooperate to perform cyclic steps. When encountering obstacles, multiple sets of vertical thrusters lift the machine body, and multiple sets of horizontal thrusters drive forward to complete obstacle crossing and re-land to continue operation. Once the data collection is complete, the thruster outputs upward lift, and the device smoothly floats up and is recovered to the seabed base station.

[0016] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention can effectively disperse the ground pressure generated by the weight of the machine body through the discrete support system of multiple mechanical legs, ensuring that the device has excellent anti-sinking performance in deep-sea soft sediments and reducing the turbidity flow generated during walking.

[0017] (2) The present invention uses electromagnetic adsorption to achieve precise grasping of polymetallic nodules, and combines negative pressure conveying and cyclone separation to achieve effective separation of ore and sediment, thereby improving the integrity of collection and operational efficiency.

[0018] (3) The functional modules of the present invention are integrated into the rigid pressure-resistant main frame through standardized interfaces and operate stably under the coordination of the comprehensive control system, ensuring the structural stability and functional synergy of the device in the deep-sea high-pressure environment.

[0019] (4) The present invention enables the device to adapt to unstructured, rugged and complex seabed terrain by working in coordination with a multi-legged walking mechanism and a multi-degree-of-freedom robotic arm. It has good passability and mobility, significantly expands the range of mines that can be operated, and improves the detection and collection coverage of mineral resources. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1This is a schematic diagram of the overall structure of a magnetic deep-sea mineral collection device according to the present invention.

[0022] Figure 2 This is a schematic diagram of the mechanical leg structure of a magnetic deep-sea ore collecting device according to the present invention.

[0023] Figure 3 This is a schematic diagram of the robotic arm structure of a magnetic deep-sea ore collection device according to the present invention.

[0024] Figure 4 This is a schematic diagram of the ore processing module of a magnetic deep-sea ore collection device according to the present invention.

[0025] In the diagram: 1. Rigid pressure-resistant main frame; 11. Sealed pressure-resistant chamber; 12. Standardized physical interface; 2. Mechanical leg; 21. First rotating hinge of mechanical leg; 22. First link of mechanical leg; 23. Second rotating hinge of mechanical leg; 24. Second link of mechanical leg; 25. Third rotating hinge of mechanical leg; 26. Grounding foot; 3. Mechanical arm; 31. First rotating hinge of mechanical arm; 32. First link of mechanical arm; 33. Second rotating hinge of mechanical arm; 34. Second link of mechanical arm 35. Linkage; 36. Robotic arm universal joint; 37. Robotic arm third link; 38. Robotic arm third rotating hinge; 4. Electromagnetic chuck; 49. Ore processing module; 40. Ore feed inlet; 41. Pump; 42. Hydrocyclone separator; 43. Grating screen; 44. Storage compartment; 45. Buffer pipe; 46. Buffer compartment; 5. Communication module; 67. Push module; 68. Horizontal thruster; 69. Vertical thruster; 70. Positioning module; 71. Vision sensor. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0029] like Figure 1 The magnetic suction deep-sea ore collection device shown includes a rigid pressure-resistant main frame 1, mechanical legs 2, mechanical arms 3, an ore processing module 4, a communication module 5, a propulsion module 6, and a positioning module 7. The rigid pressure-resistant main frame 1 has a sealed pressure-resistant chamber 11 inside. The mechanical legs 2 are symmetrically installed on both sides of the rigid pressure-resistant main frame 1. The mechanical arms 3 are installed on the front end face of the rigid pressure-resistant main frame 1. The ore processing module 4 is arranged along the centerline of the rigid pressure-resistant main frame 1, and its material inlet is located below the mechanical arms 3. The communication module 5 is connected to a surface support vessel via an armored cable. The propulsion module 6 includes four horizontal thrusters 61 and four vertical thrusters 62. The horizontal thrusters 61 are installed horizontally on the side of the rigid pressure-resistant main frame 1, and the vertical thrusters 62 are installed on the rigid pressure-resistant main frame 1 and penetrate vertically through it. The positioning module 7 is installed on the upper side of the rigid pressure-resistant main frame 1.

[0030] In a preferred embodiment of this application, the rigid pressure-resistant main frame 1 is provided with nine standardized physical interfaces 12, and the rigid pressure-resistant main frame 1 is connected to the mechanical leg 2, the mechanical arm 3 and the ore processing module 4 through the standardized physical interfaces 12.

[0031] As a preferred embodiment of this application, such as Figure 2As shown, the mechanical leg 2 includes a first mechanical leg hinge 21, a first mechanical leg link 22, a second mechanical leg hinge 23, a second mechanical leg link 24, a third mechanical leg hinge 25, and a grounding foot 26; the first mechanical leg link 22 is hinged to the standardized physical interface 12 through the first mechanical leg hinge 21; the second mechanical leg link 24 is hinged to the first mechanical leg link 22 through the second mechanical leg hinge 23, and the second mechanical leg link 24 is hinged to the grounding foot 26 through the third mechanical leg hinge 25.

[0032] In a preferred embodiment of this application, the grounding foot 26 includes a grid that runs vertically through the ground to reduce disturbance to seabed sediments during walking.

[0033] As a preferred embodiment of this application, such as Figure 3 As shown, the robotic arm 3 includes a first rotating hinge 31, a first connecting rod 32, a second rotating hinge 33, a second connecting rod 34, a universal joint 35, a third connecting rod 36, a third rotating hinge 37, and an electromagnetic chuck 38. The first connecting rod 32 is hinged to the standardized physical interface 12 via the first rotating hinge 31. The second connecting rod 34 is hinged to the first connecting rod 32 via the second rotating hinge 33, and the second connecting rod 34 is hinged to the third connecting rod 36 via the universal joint 35. The third connecting rod 36 is hinged to the electromagnetic chuck 38 via the third rotating hinge 37.

[0034] As a preferred embodiment of this application, the electromagnet integrated inside the suction cup 38 at the end of the robotic arm can generate magnetic force to attract and lock the ore when energized.

[0035] As a preferred embodiment of this application, such as Figure 4 As shown, the ore processing module 4 includes an ore inlet 41, a buffer pipe 46, a hydrocyclone separator 43, a grid screen 44, a buffer chamber 47, and a storage chamber 45 connected in sequence. The ore inlet 41 is located below the robotic arm 3, and the buffer pipe 46 is inclined.

[0036] In a preferred embodiment of this application, the ore processing module 4 further includes a pump 42, which is disposed on the buffer pipe 46 and is used to generate negative pressure suction.

[0037] In a preferred embodiment of this application, the communication module 5 is connected to the surface support vessel via an armored cable. The armored cable integrates a power transmission conductor and an optical fiber communication unit for powering the device and transmitting data bidirectionally in real time.

[0038] In a preferred embodiment of this application, the positioning module 7 includes two vision sensors 71, which are mounted on the upper side of the rigid pressure-resistant main frame 1 to acquire image information of the working environment to assist in positioning and navigation.

[0039] As a preferred embodiment of this application, the working process of the magnetic deep-sea ore collection device includes: the deep-sea ore collection device is lowered by armored cables, maintaining a horizontal attitude using vertical thrusters, while the first and second links of the six mechanical legs open outward to keep the feet horizontal, and achieving a micro-disturbance landing by adjusting the thruster power. During mining, the hinges of each joint of the robotic arm rotate to align and adhere the end electromagnetic chuck to the target. The electromagnet is energized to generate magnetic force to attract the ore. Subsequently, the first, second, and third links of the robotic arm rotate to move the ore to above the feed inlet at the front of the machine body. The electromagnet is de-energized to release the target, and at the same time, the pump source starts to use negative pressure to send the ore through the conveying pipe and cyclone separator into the abdominal storage tank. During walking, the first and second links and telescopic rods of the mechanical legs cooperate to perform cyclic steps. When encountering obstacles, the four sets of vertical thrusters lift the machine body, and the four sets of horizontal thrusters drive forward to complete the obstacle crossing and re-land to continue the operation. Once the data collection is complete, the thruster outputs upward lift, and the device smoothly floats up and is recovered to the seabed base station.

[0040] This invention discloses a magnetic deep-sea mineral collection device, which effectively solves the problems of easy equipment sinking and large operational disturbance in deep-sea soft bottom sediment by combining multi-legged discrete support, magnetic collection and negative pressure conveying.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A magnetic deep-sea ore collecting device, characterized in that: It includes a rigid pressure-resistant main frame (1), mechanical legs (2), mechanical arm (3), ore processing module (4), communication module (5), pushing module (6) and positioning module (7); The rigid pressure-resistant main frame (1) is equipped with a sealed pressure-resistant chamber (11). The mechanical legs (2) are symmetrically installed on both sides of the rigid pressure-resistant main frame (1); The robotic arm (3) is mounted on the front end face of the rigid pressure-resistant main frame (1); The ore processing module (4) is arranged along the center line of the rigid pressure-resistant main frame (1), and the material inlet of the ore processing module (4) is located below the robotic arm (3); The communication module (5) is connected to the surface support mother ship via an armored cable; The push module (6) includes multiple horizontal pushers (61) and multiple vertical pushers (62). The horizontal pushers (61) are installed on the side of the rigid pressure-resistant main frame (1) at a horizontal position, and the vertical pushers (62) are installed on the rigid pressure-resistant main frame (1) and penetrate the rigid pressure-resistant main frame (1) vertically. The positioning module (7) is installed on the upper side of the rigid pressure-resistant main frame (1).

2. The magnetic deep-sea ore collecting device according to claim 1, characterized in that, The rigid pressure-resistant main frame (1) is provided with multiple standardized physical interfaces (12), and the rigid pressure-resistant main frame (1) is connected to the mechanical leg (2), the mechanical arm (3) and the ore processing module (4) through the standardized physical interfaces (12).

3. The magnetic deep-sea ore collecting device according to claim 1, characterized in that, The mechanical leg (2) includes a first rotating hinge (21), a first connecting rod (22), a second rotating hinge (23), a second connecting rod (24), a third rotating hinge (25), and a ground foot (26). The first link (22) of the mechanical leg is hinged to the standardized physical interface (12) through the first rotational hinge (21) of the mechanical leg; The second link (24) of the mechanical leg is hinged to the first link (22) of the mechanical leg via the second rotational hinge (23) of the mechanical leg, and the second link (24) of the mechanical leg is hinged to the ground foot (26) via the third rotational hinge (25) of the mechanical leg.

4. A magnetic deep-sea ore collecting device according to claim 3, characterized in that, The ground foot (26) includes a grid that runs vertically through the ground to reduce disturbance to seabed sediments during walking.

5. A magnetic deep-sea ore collecting device according to claim 1, characterized in that, The robotic arm (3) includes a first rotating hinge (31), a first link (32), a second rotating hinge (33), a second link (34), a universal joint (35), a third link (36), a third rotating hinge (37), and an electromagnetic chuck (38). The first link (32) of the robotic arm is hinged to the standardized physical interface (12) via the first rotational hinge (31) of the robotic arm; The second link (34) of the robotic arm is hinged to the first link (32) of the robotic arm via the second rotating hinge (33) of the robotic arm, and the second link (34) of the robotic arm is hinged to the third link (36) of the robotic arm via the universal joint (35) of the robotic arm; The third link (36) of the robotic arm is hinged to the electromagnetic chuck (38) via the third rotational hinge (37) of the robotic arm.

6. A magnetic deep-sea ore collecting device according to claim 1, characterized in that, The ore processing module (4) includes an ore inlet (41), a buffer pipe (46), a cyclone separator (43), a grid screen (44), a buffer chamber (47), and a storage chamber (45) connected in sequence. The ore inlet (41) is located below the robotic arm (3), and the buffer pipe (46) is inclined.

7. A magnetic deep-sea ore collecting device according to claim 6, characterized in that, The ore processing module (4) also includes a pump (42), which is located on the buffer pipe (46) and is used to generate negative pressure suction.

8. A magnetic deep-sea ore collecting device according to claim 1, characterized in that, The communication module (5) is connected to the surface support vessel via an armored cable. The armored cable integrates a power transmission conductor and an optical fiber communication unit, which is used to power the device and transmit data bidirectionally in real time.

9. A magnetic deep-sea ore collecting device according to claim 1, characterized in that, The positioning module (7) includes at least two vision sensors (71), which are installed on the upper side of the rigid pressure-resistant main frame (1) to acquire image information of the working environment to assist in positioning and navigation.

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