Quick docking and undocking device for deep sea ore hydraulic conveying hose and use method thereof, deep sea ore transfer system and transfer method

Abstract

The application discloses a deep-sea ore hydraulic conveying hose quick butt joint and release device and a use method thereof, a deep-sea ore transfer system and a transfer method. The deep-sea ore hydraulic conveying hose quick butt joint and release device comprises a hose joint assembly arranged at one end of a conveying hose, a mining vehicle joint guide pipe assembly arranged on a mining vehicle and a traction execution mechanism arranged on the mining vehicle. The device and the method can solve the problems of poor alignment accuracy of a traditional joint, easy damage of a seal, non-reusable separation structure and incapability of adapting to multi-station cyclic mining, and are a full-automatic and reusable butt joint and release scheme.

Description

Technical Field

[0001] This invention belongs to the field of seabed mining technology, and particularly relates to a hydraulic conveying hose docking and undoing device and its usage method, a deep-sea ore transfer system and transfer method. Background Technology

[0002] As a transshipment and storage unit for seabed ore, the subsea relay cabin needs to establish a slurry transport channel with the seabed mining vehicle through a flexible conveying hose. The deployment, docking, and emergency release of the hose must all be completed underwater. It is impossible to rely on divers for deep-sea operations, and can only be completed by ROV in conjunction with underwater mechanical mechanisms.

[0003] The existing technology has the following drawbacks:

[0004] 1. Traditional rubber sealing structures have poor adaptability, are prone to failure, and have high maintenance costs. Existing hose joints rely on polymer sealing elements such as rubber sealing rings and elastic sealing gaskets. Under the harsh conditions of ultra-high water pressure and long-term scouring by mineral slurry particles in the deep sea, they are prone to aging, creep, leakage, and other sealing failures. If ROVs are dispatched underwater to replace sealing components, it will significantly increase the maintenance costs of deep-sea equipment, underwater operation energy consumption and risks, and also cause frequent shutdowns in mining operations, resulting in huge production downtime losses. It cannot meet the needs of long-term, continuous hydraulic mining transportation in the deep sea.

[0005] 2. Underwater docking and disengagement operations are cumbersome, relying heavily on ROV intervention and resulting in low efficiency. Existing docking devices rely heavily on repeated hooking, unhooking, and alignment operations by ROVs for traction, locking, and separation. Underwater operations are complex and time-consuming. Furthermore, existing emergency disconnection structures are mostly one-time pull-off and shearing designs, which cannot be reused after structural damage. They can only meet the needs of emergency disconnection scenarios and cannot adapt to the frequent switching requirements of normalized mining operations at multiple mining sites, resulting in extremely low operational iteration efficiency.

[0006] 3. Low alignment tolerance, easy damage to sealing surfaces, and poor sealing reliability under deep-sea current disturbances. Traditional joints only have a simple short guide structure. Under the influence of deep-sea current disturbances, the radial alignment deviation of the joint is large and the fault tolerance is poor. Precision sealing surfaces are easily scratched during the docking process. Moreover, the traditional structure lacks the interlocking control logic for sealing in place, which can easily lead to premature locking before the sealing surfaces are fully in contact, causing permanent damage to the sealing structure. This further increases the risk of pipeline leakage and failure, and cannot guarantee the sealing performance and stability of high-pressure slurry transportation.

[0007] 4. Lack of complete automated sequential processes and easily damaged separation equipment. The existing docking, traction, locking, and separation structures are independent and lack linkage. There is no standardized and interlocked complete set of sequential operation processes, and there is a lack of automatic non-destructive release mechanisms. During pipeline separation, hard pulling and collisions are likely to occur, causing damage to the joint structure and sealing surface. It is impossible to achieve non-destructive and rapid release and work position switching, making it difficult to adapt to the operation mode of continuous, multi-point cyclic mining in deep sea, and unable to form a standardized complete set of operation system that coordinates ROVs, subsea mining vehicles, and subsea relay cabins.

[0008] Therefore, there is an urgent need for a quick docking and release device for deep-sea hoses that is rubber-free, self-tightening, and can automatically and non-destructively separate. Summary of the Invention

[0009] The technical problem to be solved by the present invention is to overcome the deficiencies and defects mentioned in the background art above, and to provide a quick docking and undocking device and its usage method for deep-sea ore hydraulic conveying hoses, as well as a deep-sea ore transfer system and transfer method. This device and method can solve the problems of poor alignment accuracy of traditional joints, easy damage to seals, non-reusable separation structure, and inability to adapt to multi-station cyclic mining. It is a fully automatic docking and undocking solution that can be reused without damage.

[0010] A rapid docking and disengagement device for a deep-sea ore hydraulic transport hose includes a hose connector assembly at one end of the transport hose, a mining vehicle connector guide tube assembly on a mining vehicle, and a traction actuator on the mining vehicle. The hose connector assembly includes a hose connector base, with a guide rod, a sealing cone, and a first locking port extending outward from the end of the hose connector base. The mining vehicle connector guide tube assembly includes a T-shaped tube body, with the first port of the T-shaped tube body connected to the on-board ore transport pipe of the mining vehicle. The inner wall of the second port of the T-shaped tube body is a sealing cone surface that matches the sealing cone. The third port of the T-shaped tube body is docked and matched with the hose connector base. The traction actuator includes a flexible rope, a take-up and release mechanism for taking up and releasing the flexible rope, and an escapement mechanism for engaging with the first locking port. The escapement mechanism is located at the end of the flexible rope away from the take-up and release mechanism, and the escapement mechanism is deployed outward through the second port and the third port and engages with the first locking port via an ROV.

[0011] In this invention, the slender front section of the guide rod serves as a primary coarse positioning structure, significantly widening the initial docking tolerance range and effectively offsetting radial misalignment caused by ocean current disturbances. The sealing cone and its surface mate to form a pure metal hard seal, eliminating the need for traditional rubber sealing elements and fundamentally eliminating the defects of polymer sealing materials prone to aging, creep, and leakage under the high-pressure slurry environment of the deep sea. Docking requires only a single clamping and snapping by the ROV; subsequent traction, alignment, and clamping are all automatically completed by the traction actuator, significantly shortening underwater operation time and reducing ROV energy consumption and operational risks. The structural design of the three-way pipe allows the traction actuator to pass through the second interface for docking operations. After docking, the second interface is sealed by the sealing cone, ensuring the complete sealing of the slurry transport channel.

[0012] In the aforementioned rapid docking and disengagement device for deep-sea ore hydraulic conveying hoses, preferably, the end of the hose connector base is provided with a connector flared pipe, the guide rod is fixed to the center of the connector flared pipe by multiple flared pipe support plates, the outer wall of the connector flared pipe is provided with a second locking port, and the third interface is provided with multiple locking cylinders for locking the second locking port. The flared pipe support plates are circumferentially distributed between the inner wall of the connector flared pipe and the guide rod, forming multi-point support for the guide rod, effectively suppressing the bending deformation of the long guide rod under the action of water flow, and avoiding scratching the precision metal sealing cone surface during traction. The connector flared pipe is embedded in the third interface cylinder to form a two-level precision positioning constraint, completely limiting the radial sway and attitude deflection of the connector. The cooperation between the second locking port and the locking cylinders achieves circumferential rigid locking. Multiple sets of locking cylinders are evenly arranged along the circumference of the cylinder, which can make the internal pressure of the slurry and the axial tension of the hose evenly distributed along the circumference, avoiding local deformation or jamming failure caused by single-point force, and the structural rigidity is higher under high-pressure long-distance conveying conditions.

[0013] In the aforementioned rapid docking and disengagement device for deep-sea ore hydraulic conveying hoses, preferably, the escapement mechanism includes a pull rod and a plurality of clamping teeth arranged around the pull rod. The clamping teeth are rotatably arranged along a central pivot. One end of each clamping tooth near the first locking port has an inner locking head for engaging with the first locking port. A leaf spring is provided between the other end of the clamping tooth away from the first locking port and the pull rod. When the first locking port moves inward towards the clamping teeth, one end of the clamping teeth opens, and the other end compresses the leaf spring. When the first locking port moves to the engagement position of the inner locking head, the leaf spring releases its elastic potential energy, causing the clamping teeth to rotate back to their original position, thus engaging the inner locking head with the first locking port. In this invention, the escapement mechanism achieves automatic locking and releasing with the guide rod through a purely mechanical structure. When the guide rod is inserted, the inclined surface of the sealing cone pushes against the inner inclined surface of the clamping teeth, forcing the clamping teeth to open outwards around the pivot point. Simultaneously, the compressed leaf spring at the tail end stores elastic potential energy. As the guide rod continues to feed until the first locking slot aligns with the inner clamping head, the leaf spring releases its stored energy, driving the clamping teeth to reset. The inner clamping head automatically engages with the first locking slot, forming a mechanical self-lock. The entire locking process requires no external power; it is completed solely by the insertion of the guide rod, making operation simple and reliable.

[0014] In the aforementioned rapid docking and disengagement device for deep-sea ore hydraulic conveying hoses, preferably, the end of the clamping tooth away from the first locking port has an outwardly convex inclined surface, and the inner wall of the second interface near the retraction mechanism has a release cone surface. Under the driving force of the flexible rope's recovery, the outwardly convex inclined surface of the escapement mechanism slides along the release cone surface, driving the clamping tooth to rotate so that the inner locking head releases its engagement with the first locking port. In this invention, the cooperation between the release cone surface and the outwardly convex inclined surface of the clamping tooth achieves automatic disengagement of the escapement mechanism. During disengagement, the retraction mechanism slightly and quantitatively retracts the flexible rope, pulling the escapement mechanism close to the release cone surface at the tail of the second interface. The axial compressive force of the tail-convex inclined surface drives the outwardly convex inclined surface of the clamping tooth, forming a reverse lever torque with the pivot as the fulcrum. This overcomes the preload of the leaf spring, causing the inner locking head to open outward, completely disengaging from the first locking port. The mining car then drives away, disconnecting the hose connector assembly and the mining car connector guide tube assembly. The entire release process does not require secondary water intervention by the ROV. It can be completed automatically by mechanical extrusion, and the mechanism is not damaged. It can be reused an unlimited number of times, which can meet the needs of normal work station switching, as well as pipeline maintenance and emergency shutdown scenarios.

[0015] In this invention, an interlocking judgment is made using a sensor indicating the conical surface is fully engaged. The locking cylinder is only triggered to hydraulically lock when the seal is completely compressed, eliminating the risk of seal failure and locking. Simultaneously, the retraction / release mechanism's stroke is determined based on this sensor data. The mechanism stops operating when the conical surface is detected to be fully engaged. During release, the retraction / release distance is also determined by the sensor. The mechanism stops operating when the sensor detects that the clamping teeth have rotated to the open position. This invention also features dual sensor interlocking protection: the escapement mechanism is first confirmed to be fully disengaged before the locking cylinder retracts. After unlocking, the mining vehicle moves straight to achieve smooth extraction.

[0016] In the aforementioned rapid docking and disengagement device for deep-sea ore hydraulic transport hoses, preferably, the end of the escapement mechanism furthest from the deployment mechanism is further provided with a front inner port for cooperating with the ROV to achieve outward deployment of the escapement mechanism. The front inner port provides a reliable clamping and capture interface for the ROV manipulator. The ROV can form an axial limiting lock with the front inner port through the latch at the end of the mechanical rod, achieving precise capture and directional deployment of the escapement mechanism, ensuring that the ROV can still complete a single precise docking operation in the complex environment of the deep sea.

[0017] In the aforementioned rapid docking and release device for deep-sea ore hydraulic transport hoses, preferably, the ROV includes a mechanical rod, one end of which is provided with a sleeve base. A hydraulically driven piston is located within the sleeve base. A latch is rotatably provided on the side wall of the sleeve base. The outer wall of the hydraulically driven piston is provided with a limiting groove for matching the inner side of the latch. When the hydraulically driven piston moves outward, the limiting groove causes the inner side of the latch to rotate, causing the latch to be hidden within the side wall of the sleeve base. When the hydraulically driven piston moves inward, the limiting groove causes the inner side of the latch to rotate, causing the outer side of the latch to extend and engage with the inner opening at the front end. This ROV mechanical rod capture mechanism enables remotely controllable capture and release of the escapement mechanism. Specifically, when the hydraulically driven piston extends outward, the latch retracts and hides within the sleeve base. The mechanical rod has no protruding structure at its front end, allowing it to be inserted directly into the guide tube of the mining vehicle connector. When the hydraulically driven piston retracts inward, the limiting groove pushes the latch outward, and the outer edges of multiple latches press against the inner opening at the front of the escapement mechanism, forming an axial limiting lock and completing a reliable capture. This structure allows the ROV manipulator to perform escapement and release underwater without complex operations, significantly reducing the load on the ROV manipulator and the difficulty of underwater operation.

[0018] In the aforementioned rapid docking and disengagement device for deep-sea ore hydraulic transport hoses, preferably, the outer side of the third interface is provided with a connector guide tube with a flared opening; the center line of the pipe diameter of the third interface coincides with the center line of the pipe diameter of the second interface. The flared opening provides a wide inlet diameter for the entry of the slender guide rod, forming a graded guiding and positioning structure together with the slender guide rod. The guide rod first enters the flared opening to complete radially tolerant coarse positioning. As traction continues, the connector flared tube then embeds into the third interface to form fine positioning. This double-layer positioning mechanism significantly improves the alignment tolerance rate under ocean current disturbances. The coaxial arrangement of the third and second interfaces ensures that the guide rod enters the sealing position in a straight line, avoiding skew and scratches on the sealing cone surface during insertion.

[0019] As a general technical concept, the present invention also provides a method for using the above-mentioned quick docking and disengagement device for deep-sea ore hydraulic transport hoses, comprising the following steps: When docking is required, the escapement mechanism is deployed outward through the second and third interfaces to a position close to the hose connector assembly. After the ROV pulls the escapement mechanism and locks it at the first locking port, the ROV disengages. The flexible rope is retrieved by the retraction mechanism, and the hose connector assembly is dragged towards the mining vehicle connector guide tube assembly until the sealing cone is locked at the sealing cone surface of the second interface, forming a gapless metal hard seal structure. The locking cylinder locks the seal, thus completing the docking. When release is required, the flexible rope is quantitatively retrieved through the retraction mechanism, the escapement mechanism releases the latch on the first locking port, the locking cylinder unlocks, and the hose connector assembly and the mining car connector guide tube assembly are automatically disengaged. The mining car drives away, and the hose connector assembly is smoothly pulled out from the mining car connector guide tube assembly, thus completing the release.

[0020] In this invention, the docking method adopts a sequential logic of "ROV clamping → traction actuator for rough centering → metal cone surface self-tightening seal in place → multi-cylinder synchronous circumferential locking → pipeline connection and transportation". After the sealing cone and the sealing cone surface are fully fitted, the high-pressure slurry medium flows into the tee pipe body. The medium pressure directly acts on the metal cone surface to generate a self-tightening clamping force. The higher the transportation pressure, the more reliable the seal, eliminating the problems of insufficient pre-tightening force and high-pressure leakage of traditional rubber seals.

[0021] The release method employs a three-step, non-destructive process: automatic release of the escapement, synchronous hydraulic unlocking, and vehicle body displacement and separation. After the release mechanism slightly retracts the rope, triggering the automatic release of the escapement, the system sensors confirm that the escapement is completely disengaged before retracting the locking cylinder to release the radial constraint of the male connector. Finally, the mining vehicle moves forward at a constant speed, allowing the guide rod to be smoothly withdrawn. The sealing cone, locking structure, and guide structure are all free from friction and impact damage throughout the process. This process is suitable for normal workstation switching as well as emergency shutdowns and pipeline maintenance, providing a single set of equipment that can handle both routine operations and emergency situations.

[0022] As a general technical concept, the present invention also provides a deep-sea ore transfer system, including a relay silo and a mining vehicle silo. The relay silo is connected to a conveying hose, and the mining vehicle silo is connected to a vehicle-mounted ore conveying pipe. The vehicle-mounted ore conveying pipe is connected to the conveying hose via the aforementioned deep-sea ore hydraulic conveying hose quick docking and disconnection device.

[0023] In this invention, the aforementioned transfer system forms a three-in-one collaborative operation system of "ROV, subsea mining vehicle, and subsea relay silo," covering all working conditions including hose deployment, docking and conveying, maintenance and disconnection, and workstation switching. The relay silo is connected to the on-board ore conveying pipe of the mining vehicle's silo via a conveying hose through this device to form a complete through pipeline, realizing continuous hydraulic lifting and conveying of ore slurry from the mining vehicle to the relay silo.

[0024] As a general technical concept, the present invention also provides a transfer method for the above-mentioned deep-sea ore transfer system, comprising the following steps: connecting the hose connector assembly and the mining vehicle connector guide pipe assembly to close the second interface, the vehicle-mounted ore conveying pipe, the first interface, the third interface, and the conveying hose forming a connected pipeline, the mining vehicle hopper conveying ore to the relay hopper through the connected pipeline, and after the conveying is completed, disconnecting the hose connector assembly and the mining vehicle connector guide pipe assembly.

[0025] In this invention, after docking, the second interface is sealed by a sealing cone. The tee pipe acts as a connecting hub, allowing the vehicle-mounted ore conveying pipe to connect with the conveying hose via the first and third interfaces, and the slurry medium is continuously conveyed along this channel. After conveying, the connection is disconnected using a non-destructive disconnection process, allowing the mining vehicle to move directly to the next work station. The hose connector remains intact at the end of the hose in the seabed relay silo, enabling rapid work station switching and significantly improving work iteration efficiency.

[0026] Compared with the prior art, the advantages of the present invention are as follows: 1. The sealing structure of the hose connector assembly and the mining vehicle connector guide pipe assembly of this invention adopts a conical self-tightening metal hard seal structure, which is long-lasting and maintenance-free, solving the pain point of deep-sea sealing failure. This invention abandons traditional rubber O-rings and elastic gaskets, and adopts a pure metal conical self-tightening hard seal pair without polymer sealing elements, which greatly reduces the frequency of maintenance and downtime losses for replacing seals, and is suitable for long-term continuous mining conditions in deep sea. After the slurry medium is introduced into the tee pipe, the fluid pressure acts directly on the metal conical surface. The higher the delivery pressure, the greater the conical surface contact and clamping force, and the stronger the sealing reliability. There are no problems of insufficient pre-tightening force or high-pressure leakage in traditional seals. The conical surface has both guiding and sealing functions. The inclined surface of the sealing cone can automatically correct deviation. Even when there is radial deviation under ocean current disturbance, it can still smoothly guide into the second interface cylinder, reducing the underwater alignment accuracy requirements and reducing the impact and scratches on the sealing surface.

[0027] 2. The docking and undoing efficiency of this invention is significantly improved, as demonstrated in the following aspects: ROVs are easy to operate, significantly reducing underwater operation time. Docking only requires the ROV to clamp the escapement mechanism and engage the guide rod once; subsequent traction, alignment, and clamping are all automatically completed by the vehicle-mounted traction actuator. Unlocking requires no secondary ROV intervention; the escapement mechanism automatically disengages by relying on the traction actuator to retract the rope and the second interface to release the first locking sub-hole, reducing underwater operation procedures and lowering the underwater robot's energy consumption and operational risks.

[0028] Non-destructive and rapid release, supporting cyclical switching between multiple mining sites. The unique "automatic release of the escapement → hydraulic synchronous unlocking → uniform speed displacement and extraction of the vehicle body" separation process ensures that the sealing cone, guide rod, and locking groove are free from friction and impact damage throughout the process, and the hose connector is left intact on the seabed. The seabed mining vehicle can directly proceed to the next mining site, significantly improving the efficiency of operation iteration.

[0029] The mechanism is reusable, unlike disposable emergency disconnect devices. The escape, locking, and sealing structures of this device are lossless, and docking and disengagement can be reused an unlimited number of times. It meets the needs of normal workstation switching as well as pipeline maintenance and emergency shutdown scenarios, providing a single device that can handle both routine operations and emergency situations.

[0030] 3. This invention employs a layered guiding and positioning structure adapted for ROV remote lightweight operation: During operation, the slender guide rod at the front end serves as the primary coarse positioning structure, adapting to the flared guide tube of the docking end. This significantly widens the initial docking tolerance range, effectively offsetting radial misalignment caused by ocean current disturbances and completing initial alignment calibration. After initial docking, the flared section of the joint is embedded inside the guide tube cylinder, forming a secondary fine positioning constraint. This completely limits radial swaying, offset, and attitude deflection of the joint, achieving precise fit. Finally, it works in conjunction with the rear hydraulic locking mechanism to achieve omnidirectional rigid locking. After docking, there is no gap or sway, completely solving the drawbacks of traditional structures such as easy jamming and damage to the sealing surface. This significantly improves the stability and reliability of ROV remote lightweight docking operations under complex deep-sea conditions.

[0031] 4. This invention adopts a multi-equipment collaborative set adaptation, which can be matched with underwater operation ROV, seabed relay silo, and seabed mining vehicle to form a standardized "pipeline laying, docking, conveying, and release" complete operation process, and is adapted to the overall architecture of deep-sea ore hydraulic lifting mining system.

[0032] 5. The device of the present invention has significant advantages in terms of comprehensive economic and engineering benefits, reducing ROV underwater operation time and underwater operation costs; eliminating the need for regular replacement of rubber seals, greatly reducing the maintenance costs of deep-sea equipment and losses from downtime; allowing joints to be reused without damage, extending the service life of the equipment and the hardware replacement cycle; and automating the docking and undoing process, reducing the difficulty of operation for surface operators and reducing the risk of human error. Attached Figure Description

[0033] 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.

[0034] Figure 1 This is a schematic diagram of the structure of the quick docking and undocking device for the deep-sea ore hydraulic transport hose in the embodiment before docking.

[0035] Figure 2 This is a schematic diagram of the structure of the quick docking and undocking device for the deep-sea ore hydraulic transport hose after docking, as shown in the embodiment.

[0036] Figure 3 This is a schematic diagram of the hose connector assembly in the embodiment.

[0037] Figure 4 for Figure 3 Side view.

[0038] Figure 5This is a schematic diagram of the structure of the mining car joint guide tube assembly and the traction actuator in the embodiment (the escapement mechanism is not deployed).

[0039] Figure 6 This is a schematic diagram of the structure of the mining car joint guide tube assembly and the traction actuator in the embodiment (escapement mechanism released).

[0040] Figure 7 This is a schematic diagram of the ROV clamping escapement mechanism in the embodiment.

[0041] Figure 8 This is a schematic diagram of the mechanical rod of the ROV in the embodiment (the latch is hidden).

[0042] Figure 9 This is a schematic diagram of the structure of the ROV when its mechanical rod is inserted into the escapement mechanism in the embodiment.

[0043] Figure 10 This is a schematic diagram of the mechanical rod of the ROV in the embodiment (the latch is open outwards).

[0044] Figure 11 This is a schematic diagram of the structure of the ROV after its mechanical rod is engaged with the escapement mechanism in the embodiment.

[0045] Figure 12 This is a schematic diagram of the structure in the embodiment where the ROV, in conjunction with the traction actuator, releases the escapement mechanism from the guide tube assembly of the mining vehicle joint.

[0046] Figure 13 This is a schematic diagram of the escapement mechanism during docking in the embodiment.

[0047] Figure 14 This is a schematic diagram of the docking and locking structure of the hose connector assembly and the mining vehicle connector guide tube assembly in the embodiment.

[0048] Figure 15 This is a schematic diagram of the escapement mechanism when it is released in the embodiment.

[0049] Legend 1. Conveying hose; 2. Hose connector assembly; 21. Connector flared tube; 22. Flared tube support plate; 23. Second locking port; 24. Guide rod; 25. Sealing cone; 26. First locking port; 27. Hose connector base; 3. ROV; 31. Mechanical rod; 32. Clamping tongue; 33. Hydraulic drive piston; 331. Limiting groove; 34. Sleeve base; 4. Mining vehicle connector guide tube assembly; 41. Locking cylinder; 42. Sealing cone surface; 43. Release cone surface; 44. First interface; 45. Second interface; 46. Third interface; 47. Connector guide tube; 5. Traction actuator; 51. Escapement mechanism; 511. Clamping teeth; 5111. Outer convex inclined surface; 5112. Inner chuck; 512. Pull rod; 513. Rotating shaft; 514. Front inner opening; 515. Leaf spring; 52. Flexible rope; 53. Retraction and release mechanism; 6. Mining car; 61. On-board ore conveying pipe; 7. Relay hopper. Detailed Implementation

[0050] To facilitate understanding of the present invention, the present invention will be described more fully and in detail below with reference to the accompanying drawings and preferred embodiments, but the scope of protection of the present invention is not limited to the following specific embodiments.

[0051] It should be noted that when a component is described as being "fixed to, attached to, connected to or connected to" another component, it can be directly fixed to, attached to, connected to or connected to the other component, or it can be indirectly fixed to, attached to, connected to or connected to the other component through other intermediate connectors.

[0052] Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by those skilled in the art. The technical terms used herein are for the purpose of describing particular embodiments only and are not intended to limit the scope of the invention.

[0053] Unless otherwise specified, all raw materials, reagents, instruments and equipment used in this invention can be purchased from the market or prepared by existing methods.

[0054] Example: like Figures 1-6 As shown, the quick docking and disengagement device for deep-sea ore hydraulic conveying hoses in this embodiment consists of three core assemblies: a hose connector assembly 2, a mining vehicle connector guide tube assembly 4, and a traction actuator 5. It is used in conjunction with an underwater-grade ROV 3, a relay silo 7, and a mining vehicle 6 for joint operations. More specifically, the quick docking and disengagement device for deep-sea ore hydraulic conveying hoses in this embodiment includes the hose connector assembly 2 located at one end of the conveying hose 1, the mining vehicle connector guide tube assembly 4 located on the mining vehicle 6, and the traction actuator 5 located on the mining vehicle 6.

[0055] The structure of the hose connector assembly 2 in this embodiment is as follows: like Figure 3 , Figure 4 As shown, the hose connector assembly 2 is located at the end of the subsea transport hose 1. The hose connector assembly 2 includes a hose connector base 27, one end of which is connected to the transport hose 1. The other end of the hose connector base 27 extends outward and is provided with a guide rod 24, a sealing cone 25, and a first locking port 26 in sequence.

[0056] Specifically, the end of the hose connector base 27 is provided with a connector flared tube 21, which is fixedly wrapped around the outside of the hose connector base 27. A guide rod 24 is coaxially fixed to the front end of the connector flared tube 21. The guide rod 24 is a slender guide rod segment used for coarse centering. The guide rod 24 is fixed to the center of the connector flared tube 21 by multiple flared tube support plates 22. The flared tube support plates 22 are evenly welded circumferentially between the inner wall of the connector flared tube 21 and the guide rod 24, which is used to fix the guide rod 24 and suppress the bending deformation of the long guide rod under the action of water flow. In this embodiment, there are four sets of flared tube support plates 22, which are evenly arranged circumferentially at 90°.

[0057] The rear end of the guide rod 24 has an integrally formed metal conical sealing surface, forming the sealing cone 25. The sealing cone 25 has an outwardly convex conical surface structure, and its conical surface slope matches the sealing cone surface 42 of the mining vehicle connector guide tube assembly 4. The sealing cone 25 has both guiding and sealing functions, and its inclined surface can automatically correct itself when radial displacement is caused by ocean current disturbance, achieving smooth introduction.

[0058] An annular locking groove is provided on the rod body of the guide rod 24 located in front of the sealing cone 25, forming a first locking slot 26, which is used to engage with the escapement mechanism 51 of the traction actuator 5 to transmit axial traction force.

[0059] The outer wall of the connector flared tube 21 is provided with an annular groove, which forms a second locking port 23, used to cooperate with the locking cylinder 41 of the mining car connector guide tube assembly 4 to achieve rigid locking.

[0060] The structure of the mining vehicle connector guide tube assembly 4 in this embodiment is as follows: like Figure 5 , Figure 6 As shown, the mining car connector guide pipe assembly 4 is fixedly installed on the seabed mining car 6, located at the front end of the ore conveying system of the mining car 6. The mining car connector guide pipe assembly 4 includes a three-way pipe body. The first interface 44 of the three-way pipe body is connected to the on-board ore conveying pipe 61 of the mining car 6. The inner wall of the second interface 45 of the three-way pipe body is a sealing cone surface 42 that matches the sealing cone 25. The sealing cone surface 42 is a concave cone surface that can completely fit with the sealing cone 25 to form a gapless metal hard seal structure.

[0061] The third port 46 of the tee tube body and the hose connector base 27 are mated together. The outer side of the third port 46 is provided with a connector guide tube 47 with a flared opening, which serves as the inlet for the guide rod 24, greatly widening the initial mating tolerance range. The center line of the pipe diameter of the third port 46 coincides with the center line of the pipe diameter of the second port 45, ensuring that the guide rod 24 enters the sealing position in a straight line.

[0062] The third interface 46 is equipped with multiple locking cylinders 41 for engaging the second locking port 23. The multiple locking cylinders 41 are evenly arranged circumferentially along the connector guide tube 47. In this embodiment, four sets are preferably arranged evenly at 90° circumferential angles. The telescopic ends of the locking cylinders 41 can extend radially into or out of the second locking port 23 to achieve rigid locking and unlocking.

[0063] The inner wall of the second interface 45 near the retraction mechanism 53 is recessed to form a release cone surface 43. The release cone surface 43 is an inwardly converging slope that drives the escapement mechanism 51 to open automatically by axial compressive force. The second interface 45 is also the channel through which the escapement mechanism 51 of the traction actuator 5 is deployed outward.

[0064] The structure of the traction actuator 5 in this embodiment is as follows: like Figure 1 , Figure 2 , Figure 5 , Figure 6 As shown, the traction actuator 5 is integrated inside the seabed mining vehicle 6. The traction actuator 5 includes a flexible rope 52, a take-up and take-down mechanism 53 for taking up and taking down the flexible rope 52, and an escapement mechanism 51 for engaging with the first locking port 26.

[0065] The winding and unwinding mechanism 53 is preferably a winch with a built-in traction power unit, capable of reversing to perform rope winding and unwinding operations. The output end of the winch is connected to a flexible rope 52, and the other end of the flexible rope 52 is connected to an openable escapement mechanism 51. The winch provides axial traction power, which drags the hose connector assembly 2 toward the mining car connector guide tube assembly 4 by retrieving the flexible rope 52.

[0066] The escapement mechanism 51 is located at the end of the flexible rope 52 away from the release mechanism 53. The escapement mechanism 51 is deployed outwards through the second interface 45 and the third interface 46, and engages with the first locking port 26 via the ROV3. The escapement mechanism 51 includes a pull rod 512 and multiple clamping teeth 511 arranged around the pull rod 512. In this embodiment, there are three clamping teeth 511, evenly distributed circumferentially. The clamping teeth 511 are rotatably arranged along a pivot 513 located in their center. The end of the clamping tooth 511 near the first locking port 26 has an inner locking head 5112 (i.e., a locking tooth) for engaging with the first locking port 26. A leaf spring 515 is provided between the other end of the clamping tooth 511 away from the first locking port 26 and the pull rod 512. The other end of the clamping tooth 511 away from the first locking port 26 also has an outwardly convex inclined surface 5111 (i.e., an unlocking force-bearing surface).

[0067] The escapement mechanism 51 is also provided with a front end inner port 514 at the end away from the release mechanism 53 for cooperating with the ROV3 to realize the outward release of the escapement mechanism 51.

[0068] The leaf spring 515 stores and releases elastic potential energy when locked in place by the escapement mechanism 51 and the guide rod 24. The specific working principle is as follows: like Figure 13 As shown, when the guide rod 24 is locked and clamped, the front end of the guide rod 24 (specifically, the inclined conical surface of the sealing cone 25) first pushes against the inner inclined surface of the inner clasp 5112 of the clamping tooth 511, forcing the clamping tooth 511 to open outward with the pivot 513 as the fulcrum; the tail of the clamping tooth 511 squeezes the leaf spring 515, causing the leaf spring 515 to undergo elastic compression and store elastic potential energy. The guide rod 24 continues to feed until the first locking slot 26 (annular slot groove) of the rod body aligns with the inner clasp 5112; at this time, the leaf spring 515 releases its stored energy, squeezing the outer convex inclined surface 5111 end of the clamping tooth 511, causing the inner clasp 5112 to retract inward and engage with the annular groove of the first locking slot 26. The leaf spring 515 continuously outputs preload force, ensuring that the inner clasp 5112 always presses against the inclined surface of the slot, forming a mechanical self-locking mechanism. The guide rod 24 cannot be directly pulled outward, completing the axial limiting escape locking. After locking, as Figure 14 As shown.

[0069] like Figure 15As shown, when the guide rod 24 is unlocked and released, the retraction mechanism 53 (winch) quantitatively retracts the flexible rope 52, and the escapement mechanism 51 moves towards the tail of the second interface 45. The outer convex inclined surface 5111 of the clamping teeth 511 presses against the release cone surface 43 at the tail of the second interface 45. The release cone surface 43 applies a radially inward squeezing force to the inwardly contracting inclined surface 5111. This force forms a reverse lever torque with the pivot 513 as the fulcrum, overcoming the preload of the leaf spring 515 and causing the inner locking head 5112 at the front end to open outward. The inner locking head 5112 completely disengages from the annular groove of the first locking slot 26, and the guide rod 24 loses the axial limit of the radial jaws and can be directly pulled outward. After the outer squeezing force is removed, the leaf spring 515 pulls the clamping teeth 511 back together, the mechanism automatically resets, and waits for the next insertion and locking of the guide rod 24.

[0070] The capture structure of the ROV3 in this embodiment is as follows: like Figures 7-12 As shown, the ROV3 includes a mechanical rod 31, one end of which is provided with a sleeve base 34. A hydraulically driven piston 33 is provided inside the sleeve base 34. A latch 32 is rotatably provided on the side wall of the sleeve base 34. The outer wall of the hydraulically driven piston 33 is provided with a limiting groove 331 for matching the inner side of the latch 32.

[0071] When the hydraulically driven piston 33 moves outward, the limiting groove 331 causes the inner side of the latch 32 to rotate, causing the latch 32 to retract axially around the pin and hide inside the side wall of the sleeve base 34. When the hydraulically driven piston 33 moves inward, the limiting groove 331 causes the inner side of the latch 32 to rotate, causing the latch 32 to open axially around the pin, with the outer side of the latch 32 extending outward and locking into the front inner opening 514.

[0072] The working principle of the underwater capture escape mechanism 51 of the ROV3's mechanical rod 31 is as follows: The ROV3 carries the mechanical rod 31 into the water, and the hydraulically driven piston 33 extends outward. The limiting groove 331 in the middle of the piston pushes the tail of the latch 32, causing the latch 32 to rotate inward around the pin axis and retract completely inside the sleeve base 34. The front end of the mechanical rod 31 has no outward protrusion. After retraction, the ROV3 sends the mechanical rod 31 straight into the third interface 46 and the second interface 45 of the mining vehicle connector guide tube assembly 4. The end of the mechanical rod 31 passes through the guide tube and aligns with the escapement mechanism 51. The hydraulically driven piston 33 retracts inward, and the limiting groove 331 pushes the tail of the latch 32, causing the latch 32 to rotate outward and open around the pin axis. The outer edges of the multiple sets of latches 32 after opening press against the front inner port 514 of the escapement mechanism 51, forming an axial limiting lock and completing a reliable capture and docking. After locking is confirmed, the ROV3 is controlled to retreat at a constant speed; the mechanical rod 31 drives the escape mechanism 51, which is locked by the latch 32, to be pulled out in a straight line along the inner cavity of the mining car joint guide tube assembly 4, thereby realizing the deployment of the escape mechanism 51.

[0073] The method of using the quick docking and disconnection device for deep-sea ore hydraulic transport hoses in this embodiment includes the following steps: When docking is required, the escapement mechanism 51 is deployed outward through the second interface 45 and the third interface 46 to a position close to the hose connector assembly 2. After the ROV3 pulls the escapement mechanism 51 and locks it at the first locking sub-port 26, the ROV3 disengages. The flexible rope 52 is retrieved through the retraction mechanism 53, and the hose connector assembly 2 is dragged toward the mining vehicle connector guide tube assembly 4 until the sealing cone 25 is locked at the sealing cone surface 42 of the second interface 45, forming a gapless metal hard seal structure. The locking cylinder 41 locks, and the docking is completed. When release is required, the flexible rope 52 is quantitatively recovered by the release mechanism 53, the escape mechanism 51 releases the latch on the first locking port 26, the locking cylinder 41 unlocks, and the hose connector assembly 2 and the mining car connector guide tube assembly 4 are automatically disengaged. The mining car 6 drives away, and the hose connector assembly 2 is smoothly pulled out from the mining car connector guide tube assembly 4, thus completing the release.

[0074] More specifically, this device achieves deep-sea underwater sealing and docking through ROV3-assisted positioning, winch (deployment and retrieval mechanism 53) axial alignment, locking cylinder 41 rigid locking, and double-cone high-pressure seal coordination. The specific steps are as follows: S1: Pipeline Placement: The intermediate silo 7 lowers the ore conveying hose 1 and places it at the preset work position on the seabed. The mining vehicle 6 drives to the hose docking position.

[0075] S2: ROV3 clamping engagement: The underwater-grade ROV3 clamps the entire escapement mechanism 51, controls the winch (retraction and deployment mechanism 53) to release the flexible rope 52, and the ROV3 pulls the escapement mechanism 51 out to the outside of the connector guide tube 47 (e.g., Figure 12 As shown), and dragged to the front end of the hose connector assembly 2, the mechanical rod 31 of the ROV3 disengages from the escapement mechanism 51, as shown. Figure 7 As shown, the ROV3's robotic arm then precisely engages the locking teeth (inner locking head 5112) of the escapement mechanism 51 into the first locking slot 26 of the guide rod 24, and the ROV3's robotic arm disengages after clamping is completed.

[0076] S3: Winch traction coarse centering: The winch (retracting and releasing mechanism 53) uniformly retracts the flexible rope 52, axially dragging the entire set of hose connector assembly 2 toward the connector guide tube 47; the slender front end of the guide rod 24 first enters the flared inlet at the front end of the connector guide tube 47 to complete the radial coarse centering positioning.

[0077] S4: Metal Conical Pressure Self-Tightening Seal: With continuous and stable winch traction, the guide rod 24 is fully inserted into the cylinder of the connector guide tube 47. The sealing cone 25 and the sealing cone surface 42 gradually come into contact and are completely pressed together, forming a gapless metal hard seal structure, effectively preventing leakage of the slurry medium along the joint gap. High-pressure medium flows into the cavity and fills it, directly converting the internal pressure of the medium into the cone-shaped sealing pressure. The higher the pressure, the more reliable the seal.

[0078] S5: Sensor Interlocking Hydraulic Locking: The control system collects the sensor signal of the conical surface fitting into position, drives multiple sets of guide tube locking cylinders 41 to extend synchronously, and the cylinder end is locked into the second locking port 23, forming a circumferential rigid lock on the hose connector assembly 2, which can withstand the slurry conveying pressure and the axial tension of the hose.

[0079] S6: Pipeline connection and transportation: After the locking process is completed, the relay silo 7, the seabed conveying hose 1, the hose connector assembly 2, the mining vehicle connector guide pipe assembly 4 (including the third interface 46 and the first interface 44), and the vehicle-mounted ore conveying pipe 61 form a complete through pipeline, and the deep-sea ore continuous hydraulic transportation operation is started.

[0080] For scenarios such as emergency shutdown in deep sea, pipeline maintenance, and workstation switching, the device adopts a three-step non-destructive release process: automatic mechanical release, hydraulic unlocking, and vehicle displacement separation. This eliminates the need for complex ROV3 operations, ensuring rapid separation without structural damage. The specific steps are as follows: T1: Automatic release of escapement mechanism 51: After the conveying operation is completed or a release command is received, the winch (retracting and releasing mechanism 53) retracts the flexible rope 52 in a small amount, and precisely pulls the escapement mechanism 51 to adhere to the release cone surface 43 at the tail of the second interface 45; using the axial extrusion force of the tail converging slope, the outward convex slope 5111 of the clamping tooth 511 is driven to form a reverse lever torque with the pivot 513 as the fulcrum, overcoming the preload of the leaf spring 515, and driving the inner clasp 5112 at the front end of the clamping tooth 511 to automatically and smoothly open outward, completely disengaging from the first locking sub-port 26, realizing the complete automatic disengagement of the traction actuator 5 from the hose connector assembly 2, without any jamming or structural impact damage throughout the process.

[0081] T2: Hydraulic locking and unlocking: After the sensor confirms that the escapement mechanism 51 is completely disengaged, the control system synchronously controls all locking cylinders 41 to retract radially, and the cylinder ends completely exit the second locking port 23, completely releasing the radial rigid constraint of the hose connector assembly 2, so that the mating joint is in an unrestrained and free state.

[0082] T3: Complete separation of vehicle body displacement: The seabed mining vehicle 6 moves forward at a constant speed, the guide rod 24 is smoothly pulled out along the axial direction of the connector guide tube 47, and the hose connector assembly 2 is completely left at the end of the hose in the seabed relay hopper 7. The mating sealing surface (sealing cone 25 and sealing cone surface 42), the locking structure (locking cylinder 41 and second locking sub-port 23), and the guiding structure (guide rod 24 and connector guide tube 47) are all undamaged, achieving a non-destructive and rapid release. The mining vehicle 6 can be directly moved to the next working position.

[0083] The deep-sea ore transshipment system and method in this embodiment are as follows: like Figure 1 As shown, the present invention also provides a deep-sea ore transfer system, including a relay silo 7 and a mining vehicle silo (not shown in the figure, located inside the mining vehicle 6). A conveying hose 1 is connected to the relay silo 7, and a vehicle-mounted ore conveying pipe 61 is connected to the mining vehicle silo. The vehicle-mounted ore conveying pipe 61 is connected to the release device and the conveying hose 1 via the aforementioned deep-sea ore hydraulic conveying hose quick-connection.

[0084] The transfer method of this system is as follows: Connect the hose connector assembly 2 and the mining vehicle connector guide pipe assembly 4, so that the second interface 45 is sealed by the sealing cone 25. The vehicle-mounted ore conveying pipe 61, the first interface 44, the third interface 46, and the conveying hose 1 form a connected pipeline. The mining vehicle hopper conveys ore to the relay hopper 7 through this connected pipeline. After the conveying is completed, disconnect the hose connector assembly 2 and the mining vehicle connector guide pipe assembly 4, that is, complete the separation according to the above-described automatic release method.

[0085] The system forms a standardized, three-in-one collaborative operation process involving ROV3, underwater mining vehicle 6, and relay silo 7, covering all working conditions including hose deployment, docking and conveying, maintenance and release, and workstation switching.

[0086] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A quick docking and undoing device for a deep-sea ore hydraulic transport hose, characterized in that, The system includes a hose connector assembly (2) located at one end of a conveying hose (1), a mining car connector guide tube assembly (4) located on a mining car (6), and a traction actuator (5) located on a mining car (6). The hose connector assembly (2) includes a hose connector base (27), and the end of the hose connector base (27) extends outward and is provided with a guide rod (24), a sealing cone (25), and a first locking port (26). The mining car connector guide tube assembly (4) includes a three-way pipe body. The first port (44) of the three-way pipe body is connected to the on-board ore conveying pipe (61) of the mining car (6), and the inner wall of the second port (45) of the three-way pipe body is connected to the sealing cone. The sealing cone surface (42) of the cone (25) is matched, the third interface (46) of the three-way pipe body and the hose connector base (27) are mated and matched, the traction actuator (5) includes a flexible rope (52), a take-up and release mechanism (53) for taking up and releasing the flexible rope (52) and an escapement mechanism (51) for engaging with the first locking port (26). The escapement mechanism (51) is located at the end of the flexible rope (52) away from the take-up and release mechanism (53), and the escapement mechanism (51) is deployed outward through the second interface (45) and the third interface (46) and engages with the first locking port (26) through the ROV (3).

2. The quick docking and disconnection device for deep-sea ore hydraulic conveying hoses according to claim 1, characterized in that, The end of the hose connector base (27) is provided with a connector flared tube (21). The guide rod (24) is fixed to the center of the connector flared tube (21) by multiple flared tube support plates (22). The outer wall of the connector flared tube (21) is provided with a second locking port (23). The third interface (46) is provided with multiple locking cylinders (41) for locking the second locking port (23).

3. The quick docking and disconnection device for deep-sea ore hydraulic conveying hoses according to claim 1, characterized in that, The escapement mechanism (51) includes a pull rod (512) and a plurality of clamping teeth (511) arranged around the pull rod (512). The clamping teeth (511) are rotatably arranged along a pivot (513) arranged in the middle. The end of the clamping teeth (511) near the first locking slot (26) is provided with an inner locking head (5112) for engaging with the first locking slot (26). The other end of the clamping teeth (511) away from the first locking slot (26) is connected to the pull rod (512). A leaf spring (515) is provided between them. When the first locking slot (26) moves into the clamping tooth (511), one end of the clamping tooth (511) opens and the other end compresses the leaf spring (515). When the first locking slot (26) moves to the engaging position of the inner locking head (5112), the leaf spring (515) releases elastic potential energy to make the clamping tooth (511) rotate back to its original position, so that the inner locking head (5112) and the first locking slot (26) engage with each other.

4. The quick docking and disconnection device for deep-sea ore hydraulic conveying hoses according to claim 3, characterized in that, The clamping tooth (511) has an outwardly protruding inclined surface (5111) at the other end away from the first locking port (26). The second interface (45) has a release cone surface (43) on the inner wall of the end near the retraction mechanism (53). Under the drive of the recovery force of the flexible rope (52), the outwardly protruding inclined surface (5111) slides along the release cone surface (43) and drives the clamping tooth (511) to rotate so that the inner locking head (5112) releases its engagement with the first locking port (26).

5. The quick docking and disconnection device for deep-sea ore hydraulic conveying hoses according to claim 1, characterized in that, The escapement mechanism (51) is further provided with a front end inner port (514) at the end away from the release mechanism (53) for cooperating with the ROV (3) to realize the outward release of the escapement mechanism (51).

6. The quick docking and disconnection device for deep-sea ore hydraulic conveying hoses according to claim 5, characterized in that, The ROV (3) includes a mechanical rod (31), one end of which is provided with a sleeve base (34). A hydraulically driven piston (33) is provided inside the sleeve base (34). A latch (32) is rotatably provided on the side wall of the sleeve base (34). The outer wall of the hydraulically driven piston (33) is provided with a limiting groove (331) for matching the inner side of the latch (32). When the hydraulically driven piston (33) moves outward, the limiting groove (331) drives the inner side of the latch (32) to rotate, so that the latch (32) is hidden inside the side wall of the sleeve base (34). When the hydraulically driven piston (33) moves inward, the limiting groove (331) drives the inner side of the latch (32) to rotate, so that the outer side of the latch (32) extends out and is locked in the front end inner opening (514).

7. The quick docking and disconnection device for deep-sea ore hydraulic conveying hoses according to claim 1, characterized in that, The outer side of the third interface (46) is provided with a connector guide tube (47) with a flared opening; the center line of the pipe diameter of the third interface (46) coincides with the center line of the pipe diameter of the second interface (45).

8. A method of using a quick docking and disconnection device for deep-sea ore hydraulic transport hoses as described in any one of claims 1-7, characterized in that, Includes the following steps: When docking is required, the escapement mechanism (51) is deployed outward through the second interface (45) and the third interface (46) to a position close to the hose connector assembly (2). The ROV (3) pulls the escapement mechanism (51) to engage with the first locking sub-port (26), and then the ROV (3) disengages. The flexible rope (52) is retrieved by the retraction mechanism (53), and the hose connector assembly (2) is dragged toward the mining vehicle connector guide tube assembly (4) until the sealing cone (25) engages with the sealing cone surface (42) of the second interface (45) and forms a gapless metal hard seal structure. The locking cylinder (41) locks, and the docking is completed. When release is required, the flexible rope (52) is quantitatively recovered by the release mechanism (53), the escape mechanism (51) releases the engagement with the first locking port (26), the locking cylinder (41) unlocks, and the hose connector assembly (2) and the mining car connector guide tube assembly (4) are automatically disengaged. The mining car (6) drives away, and the hose connector assembly (2) is smoothly pulled out from the mining car connector guide tube assembly (4), thus completing the release.

9. A deep-sea ore transfer system, comprising a relay silo (7) and a mining vehicle silo, characterized in that, The relay silo (7) is connected to a conveying hose (1), and the mining vehicle silo is connected to a vehicle-mounted ore conveying pipe (61). The vehicle-mounted ore conveying pipe (61) is connected to the conveying hose (1) through the deep-sea ore hydraulic conveying hose quick docking and undoing device as described in any one of claims 1-7.

10. A transshipment method for a deep-sea ore transshipment system as described in claim 9, characterized in that, Includes the following steps: Connect the hose connector assembly (2) and the mining vehicle connector guide pipe assembly (4) to close the second interface (45). The vehicle-mounted ore conveying pipe (61), the first interface (44), the third interface (46), and the conveying hose (1) form a connected pipeline. The mining vehicle hopper conveys ore to the relay hopper (7) through this connected pipeline. After the conveying is completed, disconnect the hose connector assembly (2) and the mining vehicle connector guide pipe assembly (4).

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