Mine box guided mining robot and mining operation equipment

Abstract

The present application relates to underwater operation equipment technical field, specifically point to a kind of ore box guiding mining robot and mining operation equipment, a kind of ore box guiding mining robot, including mining rack and mining control system, mining rack is equipped with ore box lifting guide connecting mechanism and ore box, the upper end of ore box is equipped with lifting hook for lifting ore box, ore box is movably connected with mining rack, after ore box is separated from mining rack, it can be quickly docked with mining rack by ore box lifting guide connecting mechanism drive, a kind of mining operation equipment, including operation ship, operation ship control system, further including the ore box guiding mining robot described above, mining control system is connected with operation ship control system, the deck of operation ship is equipped with robot winch, robot winch is connected with operation ship control system, the ore box of the present application is lifted with guide, double ore box alternation operation, and mining efficiency is high.

Description

Technical Field

[0001] This invention relates to the field of underwater operation equipment technology, specifically to a ore box-guided mining robot and mining operation equipment. Background Technology

[0002] The main deep-sea mining methods include: tugboat type, continuous rope bucket type, shuttle boat type, and mining car plus pipeline hoisting type. Among these, the mining car plus pipeline conveying type mining system consists of a seabed mining car, a mining vessel, and a pipeline hoisting system. A search reveals that Chinese patent CN106761762A discloses an intermittent deep-sea mineral resource mining system and method, including a surface operation mother vessel, an underwater operation platform with a storage silo, and a ore collection car connected to the underwater operation platform. Its key feature is that it also includes one or more hoisting compartments. Each hoisting compartment includes a hull for storing materials, a first buoyancy adjustment device mounted on the hull, and an underwater moving device mounted on the hull. The storage silo has a first inlet / outlet interface, and the hull has an openable / closable discharge port and a second inlet / outlet interface for detachably connecting with the first inlet / outlet interface. The shortcomings of the aforementioned patents are as follows: First, the lifting cabin of the aforementioned patents is in a free-floating state on the seabed. Its descent to the mining operation platform requires precise control of its own buoyancy. The seabed conditions are complex, and the lifting cabin is prone to deviation and swaying, making the docking very unstable, which greatly reduces mining efficiency. Second, the aforementioned patents require the ore collection truck to dock and transfer the ore to the underwater operation platform. The lifting cabin docks with the underwater operation platform, rises and docks with the work vessel to transport the ore to the work vessel. When the lifting cabin docks with the mining operation platform to receive the ore, it needs to accurately locate the discharge port of the mining operation platform before docking. After docking, the ore needs to be fixed, and its own buoyancy needs to be controlled. It then reaches the work vessel via an underwater moving device. It is necessary to constantly locate its own position and the position of the work vessel. The entire material transfer process requires multiple dockings. This entire process has high docking requirements, complicated operation steps, and greatly reduces the efficiency of ore box transportation and mining efficiency. In addition, if the lifting cabin fails to dock accurately with the underwater operation platform and work vessel once, it needs to dock repeatedly, which consumes a lot of energy. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies and provide a mine box-guided mining robot and mining operation equipment with guided lifting of the mine box, alternating operation of two mine boxes, and high mining efficiency.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A ore box-guided mining robot includes a mining frame and a mining control system. The mining frame is equipped with an ore box lifting and guiding connection mechanism and an ore box. A hook for lifting the ore box is installed at the upper end of the ore box. The ore box is movably connected to the mining frame. After separation, the ore box can quickly dock with the mining frame via the ore box lifting and guiding connection mechanism, thereby guiding the lifting and lowering of the ore box and indirectly improving mining efficiency.

[0005] The ore box lifting and guiding connection mechanism of the present invention includes a guide rope and an ore box guiding winch. The mining frame is provided with an ore box mounting slot, and the ore box mounting slot has a rope through hole in the middle. The lower end of the ore box is fixed with a guide rope. The guide rope passes through the rope through hole and is driven by the ore box guiding winch. The ore box guiding winch is fixedly connected to the mining frame. The ore box guiding winch is controlled by the mining control system so that when the ore box needs to be docked with the mining frame, the ore box guiding winch retracts the guide rope, and the guided ore box quickly falls back onto the mining frame.

[0006] The present invention provides a positioning and installation component between the ore box and the ore box installation slot. The positioning and installation component includes a guide positioning plate, a guide cone, and limiting rods. The ore box installation slot has a cone connecting groove in the middle, and a rope through hole at the bottom of the cone connecting groove. A guide positioning plate with an arc shape is provided on the outer side of the upper end of the cone connecting groove. The lower end of the guide positioning plate is fixedly connected to the bottom of the ore box installation slot. The upper surface of the guide positioning plate is inclined, and symmetrical rod limiting grooves are provided on both sides of the upper surface of the guide positioning plate. A guide cone is provided at the lower end of the ore box, with its upper end fixedly connected to the ore box and its lower end fixedly connected to a guide rope. Limiting rods are symmetrically provided on both sides of the outer wall of the guide cone, and the limiting rods are fixedly connected to the outer wall of the guide cone. The ore box is placed in the ore box installation slot, the guide cone is inserted into the cone connecting slot, and the limiting rod falls into the rod limiting slot to limit and fix the ore box to the mining machine frame. The limiting rod slides into the rod limiting slot as the ore box falls, thus limiting the falling position of the ore box.

[0007] The ore box described in this invention includes a first ore box and a second ore box.

[0008] The mining machine frame of this invention is equipped with a rope hoisting mechanism, which includes a truss, columns, an operating frame, a docking and moving mechanism, and rope hoisting components. A truss is located on the upper side of one side of the machine frame, with columns at both ends. The upper ends of the columns are fixedly connected to the truss, and the lower ends are fixedly connected to the mining machine frame. An operating frame is mounted on the truss, with one end connected to the truss via the docking and moving mechanism, and the other end equipped with the rope hoisting components. The docking and moving mechanism drives the operating frame to move laterally and longitudinally relative to the truss. The first and second ore boxes are hoisted by hooks and ropes. The equipment is driven by a detachable connection between the lower end of the lifting rope and the hook, which is looped around the hook. The docking and moving mechanism drives the operating frame to approach the first or second ore box. The rope removal and hooking component removes the rope from the first or second ore box. The docking and moving mechanism then drives the operating frame to the second or first ore box. The rope removal and hooking component loops the rope around the second or first ore box so that after the first ore box is filled, it can be lifted and unloaded by the lifting equipment. After the first ore box returns to its original position, the rope is removed from the first ore box and replaced with the rope from the second ore box, facilitating the lifting and placement of the second ore box.

[0009] The rope retrieval component of this invention includes a retrieval base, a rope drive cylinder, a rope hook block, an adjusting drive cylinder, a hinge plate, and a rope limiting cylinder. The other end of the operating frame is provided with the retrieval base. Rope drive cylinders are symmetrically arranged on the retrieval base, and the rope drive cylinders are inclined towards the hook. The extended ends of the two rope drive cylinders are provided with rope hook blocks facing each other. The rope hook blocks are fixedly connected to the extended ends of the rope drive cylinders. The cylinder seats of the rope drive cylinders are hinged to the retrieval base via universal joints. An adjusting drive cylinder is provided between the two rope drive cylinders. A hook-opening seat is provided below the cable drive cylinder. One end of the adjusting drive cylinder is hinged to the hook-up base, and the other end is symmetrically provided with hinge plates. The two hinge plates are arranged in a V-shape and are placed between two cable drive cylinders. One end of the hinge plate is hinged to the outer wall of the cable drive cylinder seat on the same side as the hinge plate, and the other end is hinged to the extended end of the adjusting drive cylinder. The hook-opening seat is inclined towards the baffle of the hook. The end of the hook-opening seat facing the hook is the top opening of the baffle, and the other end is fixedly connected to the hook-up base. The hook-opening seat is provided with a cable limiting groove. A rope limiting cylinder is installed above the rope limiting groove. The rope limiting cylinder extends or retracts to close or open the rope limiting groove. The rope limiting cylinder is connected to the hook-and-grip base. The rope drive cylinder, adjusting drive cylinder, and rope limiting cylinder are respectively connected to the mining control system. When a rope needs to be grabbed, the rope limiting groove is in the open state, the adjusting drive cylinder extends, and the telescopic rod of the rope drive cylinder extends. Through the docking moving mechanism, the hook-opening seat moves close to the baffle of the hook. The hook-opening seat presses against the baffle, opening the hook. The adjusting drive cylinder retracts, allowing the two ropes to... The drive cylinder moves in an inward arc, and the telescopic rod of the rope drive cylinder retracts. Through the hook block, the rope is hooked and moved downward into the rope limiting groove. When the rope is placed in the rope limiting groove, the drive rope limiting cylinder extends to limit the rope within the groove. The docking and moving mechanism drives the operating frame to move the rope picking and hanging components to the hook of another ore box. The hook opening seat opens the hook's baffle, and the rope limiting groove enters the hook. Under the action of the lifting equipment, the rope moves upward into the hook. The hook opening seat then retracts, completing the rope replacement.

[0010] The operating frame of the present invention is provided with a rope picking and hanging rotation mechanism, which includes a rotary motor and a slewing bearing. A rotary motor is provided on one side of the picking and hanging base. The picking and hanging base is connected to the operating frame via the slewing bearing. The slewing bearing is driven by the rotary motor, so that the picking and hanging base is rotated by the rotary motor, thereby rotating the rope.

[0011] The present invention provides rope changing docking sensing components on the first and second ore boxes respectively. Each rope changing docking sensing component includes a rope changing position sensor. Ore box handle frames are fixed to the upper ends of the first and second ore boxes respectively. The hook is fixedly installed on the ore box handle frame. A rope changing position sensor is provided on one side of the hook's baffle. The rope changing position sensor is installed on the ore box handle frame and is connected to the mining control system. The lower end of the operating frame rests on the ore box handle frame. When the rope changing position sensor senses the operating frame, the operating frame moves into position. The rope changing position sensor can detect whether the operating frame has moved into position, which facilitates subsequent rope changing operations.

[0012] The hook of the present invention is provided with a non-position contact sensor on the other side. The non-position contact sensor is installed on the handle frame of the ore box and is connected to the mining control system so as to know that the operating frame has moved to the other side of the hook opening and the operating frame needs to be moved again.

[0013] The present invention has a mining robotic arm I for crushing ore on one side of the front end of the mining frame and a mining robotic arm II for collecting ore on the other side. A muck loader is provided at the front end of the mining frame and is connected to the mining frame. The mining robotic arm II scoops the ore into the muck loader inlet. The muck loader outlet is connected to the first or second ore box on the mining frame via an ore conveying mechanism. The ore conveying mechanism, muck loader, mining robotic arm II, and mining robotic arm I are all controlled by the mining control system so that the two robotic arms work together. The mining robotic arm I is used for crushing and stripping the ore at the bottom of the sea, and the mining robotic arm II is used to collect and scoop the crushed ore to the muck loader inlet. The muck loader delivers the ore to the ore conveying mechanism, and the ore conveying mechanism transports the ore to the first or second ore box. The two robotic arms work together, resulting in high mining efficiency.

[0014] The mining robotic arm I of this invention includes a working arm I, a swing seat I at the lower end of the working arm I, a fixed seat I on one side of the swing seat I, the fixed seat I being fixedly connected to the mining frame, the swing seat I being hinged to the fixed seat I, a swing cylinder I on the left or right side of the swing seat I, one end of the swing cylinder I being hinged to the mining frame and the other end being hinged to the swing seat I, the lower end of the working arm I being hinged to the swing seat I, a working drive cylinder I on the swing seat I, the lower end of the working drive cylinder I being hinged to the swing seat I and the upper end being hinged to the working arm I, the swing cylinder I and the working drive cylinder I being respectively connected to the mining control system, a crushing component, which is a beak hook, is installed at the working end of the working arm I, so as to realize the left and right swing of the swing seat I through the swing cylinder I, thereby driving the working arm I to swing, and the working arm I is driven to lift and lower through the working drive cylinder I, thereby realizing the crushing and stripping operation of the beak hook on the ore.

[0015] The mining robotic arm II of this invention includes a working arm, a swing seat at the lower end of the working arm, a fixed seat on one side of the swing seat, the fixed seat being fixedly connected to the mining frame, the swing seat being hinged to the fixed seat, a swing cylinder on the left or right side of the swing seat, one end of the swing cylinder being hinged to the mining frame and the other end being hinged to the swing seat, the lower end of the working arm being hinged to the swing seat, and a working drive cylinder on the swing seat, the lower end of the working drive cylinder being hinged to the swing seat and the upper end being hinged to the working arm, the swing cylinder and the working drive cylinder being connected to the mining control system, and a collecting component, which is a bucket, is installed at the working end of the working arm. The swing cylinder enables the swing seat to swing left and right, thereby driving the working arm to swing, and the working arm is driven to lift and lower by the working drive cylinder, thereby enabling the bucket to collect and transport ore.

[0016] The slag remover of this invention includes a collecting plate, collecting impellers, a collecting regulating cylinder, and a collecting cylinder. The collecting plate is located at the front end of the mining frame, and is inclined downwards from back to front. The front end of the collecting plate is close to the ground, and the rear end is fitted with the inlet of the ore conveying mechanism. The rear end of the collecting plate is hinged to the mining frame. The collecting plate is driven by the collecting regulating cylinder, one end of which is hinged to the collecting plate, and the other end to the mining frame. Collecting impellers are spaced apart on the left and right sides of the collecting plate, and are driven by the collecting cylinder. The collecting cylinder and the collecting regulating cylinder are fixedly connected to the mining frame. The collecting cylinder is connected to the mining control system. By driving the collecting impellers to rotate, the ore scraped onto the collecting plate by the bucket is conveyed to the ore conveying mechanism. The tilt angle of the front end of the collecting plate can be adjusted as needed using the collecting regulating cylinder.

[0017] The ore conveying mechanism of the present invention has guide plates on both sides of the inlet, the two guide plates are arranged in a figure-eight shape, the guide plates are inclined, the width between the front ends of the two guide plates is greater than the width between the rear ends of the two guide plates, the guide plates are fixedly connected to the collecting plate, so as to guide the ore from the collecting plate into the ore conveying mechanism through the guide plates.

[0018] The ore conveying mechanism of this invention includes a first conveying component, a second conveying component, a third telescopic conveying component, a first ore box telescopic conveying component, and a second ore box telescopic conveying component. One end of the first conveying component is configured to cooperate with a collecting plate, and the other end is configured to cooperate with one end of the second conveying component. The other end of the second conveying component is provided with the third telescopic conveying component and the first ore box telescopic conveying component, and the other end of the third telescopic conveying component is provided with the second ore box telescopic conveying component. The second conveying component cooperates with the first ore box telescopic conveying component to realize the feeding of the first ore box, or the second conveying component cooperates with the third telescopic conveying component, and the third telescopic conveying component cooperates with the second ore box telescopic conveying component to realize the feeding of the second ore box. The first ore box telescopic conveying component and the second ore box telescopic conveying component are slidably connected to the mining frame. The first ore box telescopic conveying component and the second ore box telescopic conveying component are driven by a conveying drive mechanism to feed the first ore box through the first conveying component, the second conveying component, and the first ore box telescopic conveying component. After the first ore box is full, the second ore box is fed through the first conveying component, the second conveying component, the third telescopic conveying component, and the second ore box telescopic conveying component.

[0019] A mining operation equipment includes a workboat and a workboat control system, characterized in that: it also includes the aforementioned ore box-guided mining robot, the mining control system is connected to the workboat control system, a robot winch is installed on the deck of the workboat and is connected to the workboat control system, a lifting device is installed on the workboat and is connected to the workboat control system, so as to control the raising and lowering of the mining robot through the robot winch, lower the mining robot to the seabed for mining operations, and retrieve the mining robot after the operation is completed.

[0020] The lifting equipment described in this invention is a ore box hoisting winch. The hoisting rope is controlled by the ore box hoisting winch to lift the first ore box and the second ore box onto the work vessel, unload them, and then return them to the seabed.

[0021] The work vessel of the present invention is equipped with a ore box guiding and moving mechanism, which includes a translational guide frame and an ore box driving railcar. The work vessel is equipped with a translational guide frame, the lower end of which is fixedly connected to the deck. The ore box driving railcar is installed on the translational guide frame. The hoisting rope passes through the ore box driving railcar and is driven by the ore box hoisting winch, so as to guide the lifting and lowering of the ore box through the ore box driving railcar. At the same time, the ore box driving railcar can also drive the ore box to move along the translational guide frame.

[0022] The present invention provides a detachable guide cone component on the first or second ore box. The detachable guide cone component includes a guide sleeve and a connecting pin. The lower end of the first and second ore boxes are respectively fixedly provided with guide sleeves. The guide sleeves are provided with connecting pin holes. The upper part of the guide cone is provided with insertion pin holes. The upper part of the guide cone is inserted into the guide sleeve and fixed by the connecting pin. By pulling out the connecting pin, the guide cone can be separated from the guide sleeve, thereby realizing the disassembly and assembly of the guide cone and facilitating the replacement of the first or second ore box.

[0023] The work vessel of this invention is equipped with a ore box clamping mechanism, which includes a pin-driven manipulator, a pin-driven cylinder, a locking clamping claw, and a locking clamping claw drive cylinder. The work vessel is also equipped with an ore box conversion seat, which is fixed to the deck. The ore box conversion seat has an ore box conversion groove, a conical limiting hole in the center of the groove, and a guide groove on one side of the conical limiting hole. One end of the guide groove communicates with the conical limiting hole, and the other end extends to the edge of the ore box conversion seat. The conical limiting hole is located on both sides of the guide groove. A pin-driven manipulator is provided, which is driven by a pin-driven cylinder. A locking gripper is provided below the pin-driven manipulator, which is driven by a locking gripper driven cylinder. The locking gripper driven cylinder and the pin-driven cylinder are respectively fixedly connected to the ore box conversion seat. When the ore box enters the ore box conversion slot, the guide cone enters the cone limit hole. The locking gripper clamps the guide cone, fixing the ore box and the ore box conversion seat. The pin-driven manipulator is then driven to push the pin out of the connecting pin hole and the insertion pin hole, facilitating the subsequent separation of the ore box and the guide cone.

[0024] The pin-driven manipulator of the present invention is provided with a push guide plate, and the pin-driven manipulator is slidably connected to the push guide plate. The locking clamping claw is provided with a clamping guide plate, and the locking clamping claw is slidably connected to the clamping guide plate. The clamping guide plate and the push guide plate are respectively fixedly connected to the ore box conversion seat, so as to guide the horizontal movement of the pin-driven manipulator by the push guide plate and guide the horizontal movement of the locking clamping claw by the clamping guide plate.

[0025] The ore box conversion groove of the present invention has an opening groove on one side of the guide groove hole. The upper part of the inner wall of the ore box conversion groove opens outward to form an outer guide flare, and the lower part of the inner wall of the ore box conversion groove forms an inner guide flare from bottom to top and outward. This allows the ore box guide rope to enter the cone head limiting hole through the opening groove. The ore box is guided into the ore box conversion groove through the outer guide flare, and the position of the ore box in the conversion box is further guided through the inner guide flare, guiding the guide cone head into the cone head limiting hole.

[0026] The present invention provides a limiting arc plate at the upper end of the cone-shaped limiting hole. The limiting arc plate is arc-shaped and opens to the side facing the guide slot. The lower end of the limiting arc plate is fixedly connected to the ore box conversion slot. The upper surface of the limiting arc plate is inclined. The limiting arc plate is provided with an axial limiting groove above the pin-driven manipulator. The bottoms of the two axial limiting grooves are on the same horizontal plane. The limiting rod is fixedly connected to the outer wall of the guide sleeve. The limiting rod is horizontally set and located above the connecting pin. The limiting rod and the axial limiting groove are configured to cooperate to guide the guide cone into the cone-shaped limiting hole through the limiting arc plate. The cooperation between the limiting rod and the axial limiting groove ensures that the connecting pin is horizontal and that the connecting pin and the pin-driven manipulator are on the same horizontal plane.

[0027] The present invention provides a guide roller on one side of the guide slot hole. The guide roller is fixedly connected to the deck via a bracket. The middle of the guide roller is a guide groove. The inner wall of the guide groove is flared outward in a trumpet shape on both sides so as to guide the hoisting rope to fall into the guide groove through the inner wall of the guide groove, and then pass through the guide groove into the guide slot hole. The guide roller is relatively long to ensure that the hoisting rope can pass through the guide groove.

[0028] The present invention provides a lifting and guiding mechanism between the robot winch and the ore box-guided mining robot. The lifting and guiding mechanism includes robot guide rollers. The robot guide rollers are installed on the translational guide frame. The mining frame is provided with robot hoisting holes. The cable of the robot winch passes through the robot guide rollers and the robot hoisting holes and is fixedly connected to the mining frame so as to guide the lifting and lowering of the mining robot through the robot guide rollers.

[0029] The work vessel of the present invention has a sliding platform above the moon pool. The sliding platform is slidably connected to the deck of the work vessel. The sliding platform is driven by a sliding platform drive cylinder. A robot tray is fixedly provided at the upper end of the sliding platform. The robot tray is fixedly connected to the sliding platform so that when in use, the mining robot is placed on the sliding platform, and the sliding platform is moved above the moon pool by the sliding platform drive cylinder. After the mining robot is lifted, the sliding platform drive cylinder drives the sliding platform to move out of the moon pool, so that the mining robot can fall from the moon pool to the seabed.

[0030] Due to the above-mentioned structure, the present invention has the advantages of guided lifting of ore boxes, alternating operation of dual ore boxes, and high mining efficiency. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of the ore box-guided mining robot of the present invention.

[0032] Figure 2 This is a side view of the ore box-guided mining robot of the present invention.

[0033] Figure 3 This is a top view of the ore box-guided mining robot of the present invention.

[0034] Figure 4 This is an enlarged schematic diagram showing the bottom of the first or second ore box of the present invention docking with the ore box mounting groove.

[0035] Figure 5 (A) is an enlarged schematic diagram of the rope grabbing component of the present invention about to grab the rope inside the hook.

[0036] Figure 5 (B) is an enlarged schematic diagram of the rope grabbing component of the present invention grabbing the rope.

[0037] Figure 6 (A) is the present invention Figure 5 (A) Top sectional view of the rope hooking component.

[0038] Figure 6 (B) is the present invention Figure 5 (B) Top sectional view of the rope hooking component.

[0039] Figure 7 This is an enlarged schematic diagram of the mining robotic arm II of the present invention.

[0040] Figure 8 This is a schematic diagram of the structure of the work bed of the present invention.

[0041] Figure 9 This is an enlarged schematic diagram of the ore box conversion seat and guide rollers of the present invention.

[0042] Figure 10 This is an enlarged schematic diagram of the ore box conversion base of the present invention.

[0043] Figure 11 This is the present invention. Figure 10 Enlarged view of section II.

[0044] Figure 12 This is a cross-sectional view of the first or second ore box of the present invention docking with the ore box conversion seat.

[0045] Figure 13 This is a top view of the guide cone clamped on the ore box conversion seat of the present invention. Figure 14 This is the present invention. Figure 13 Sectional view of section I-I.

[0046] Figure 15 This is the present invention. Figure 14 Cross-sectional view of KK.

[0047] Figure 16 This is the present invention. Figure 15 Enlarged view of section IV.

[0048] Figure 17 This is the present invention. Figure 1Enlarged schematic diagram of the rope hoisting mechanism.

[0049] Reference numerals: 1. Mining frame; 2. First ore box; 3. Second ore box; 4. Hook; 5. Ore box lifting and guiding connection mechanism; 6. Guide rope; 7. Ore box guiding winch; 8. Ore box mounting slot; 9. Positioning and mounting component; 10. Guide positioning plate; 11. Guide cone; 12. Limiting rod; 13. Cone connecting slot; 14. Rod limiting slot; 15. Rope lifting mechanism; 16. Truss; 17. Column; 18. Operating frame; 19. Docking and moving mechanism; 20. Rope lifting component; 21. Lifting equipment; 22. Rope; 23. Lifting base; 24. Rope drive cylinder. 25. Rope hook block; 26. Adjustment drive cylinder; 27. Hinge plate; 28. Rope limit cylinder; 29. ​​Opening seat; 30. Baffle; 31. Rope limit groove; 32. Rope picking and hanging rotation mechanism; 33. Rotary motor; 34. Rope changing position sensor; 35. Ore box handle frame; 36. Incomplete contact sensor; 37. Mining robotic arm I; 38. Mining robotic arm II; 39. Working arm; 40. Swing seat; 41. Fixed seat; 42. Swing cylinder; 43. Working drive cylinder; 44. Collecting plate; 45. Collecting impeller; 46. Guide plate; 47. First conveying component; 48. Second conveying component 49, third telescopic conveying component 50, first ore box telescopic conveying component 51, second ore box telescopic conveying component 52, conveying drive mechanism 53, workboat 54, deck 55, robot winch 56, ore box guiding and moving mechanism 57, translational guide frame 58, ore box driving railcar 59, detachable guide cone component 60, guide sleeve 61, connecting pin 62, ore box clamping mechanism 63, pin shaft pushing manipulator 64, pin shaft drive cylinder 65, locking clamping claw 66, locking clamping claw drive cylinder 67, ore box rotation The following components are included: a changing seat 68, a ore box conversion groove 69, a cone-shaped limiting hole 70, a guide groove hole 71, a pushing guide plate 72, a clamping guide plate 73, and a slidably connected clamping guide plate 73. The clamping guide plate 73, pushing guide plate 72, clamping guide plate 73, an outer guide flare 74, an inner guide flare 75, a limiting arc plate 76, an axial limiting groove 77, a guide roller 78, a guide groove 79, a robot guide roller 80, a robot lifting hole 81, a slide table 82, a robot pallet 83, a slag remover 84, and an ore conveying mechanism 85. Detailed Implementation

[0050] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0051] A ore box-guided mining robot includes a mining frame 1 and a mining control system. The mining frame 1 is equipped with an ore box lifting and guiding connection mechanism 5 and an ore box. A hook 4 for lifting the ore box is installed at the upper end of the ore box. The ore box is movably connected to the mining frame 1. After the ore box is separated from the mining frame 1, it can be quickly docked with the mining frame 1 by the ore box lifting and guiding connection mechanism 5, thereby guiding the lifting and lowering of the ore box and indirectly improving mining efficiency.

[0052] The ore box lifting and guiding connection mechanism 5 of the present invention includes a guide rope 6 and an ore box guiding winch 7. The mining frame 1 is provided with an ore box mounting slot 8, and the ore box mounting slot 8 has a rope through hole in the middle. The guide rope 6 is fixed at the lower end of the ore box. The guide rope 6 passes through the rope through hole and is driven by the ore box guiding winch 7. The ore box guiding winch 7 is fixedly connected to the mining frame 1. The ore box guiding winch 7 is controlled by the mining control system so that when the ore box needs to be docked with the mining frame 1, the ore box guiding winch 7 retracts the guide rope 6, and the guided ore box quickly falls back onto the mining frame 1.

[0053] The present invention provides a positioning and installation component 9 between the ore box and the ore box installation slot 8. The positioning and installation component 9 includes a guide positioning plate 10, a guide cone 11, and a limiting rod 12. The ore box installation slot 8 has a cone connecting slot 13 in the middle, and a rope through hole at the bottom of the cone connecting slot 13. The guide positioning plate 10 is arc-shaped on the outer side of the upper end of the cone connecting slot 13. The lower end of the guide positioning plate 10 is fixedly connected to the bottom of the ore box installation slot 8. The upper surface of the guide positioning plate 10 is inclined. Rod limiting slots 14 are symmetrically arranged on both sides of the upper surface of the guide positioning plate 10. The lower end of the ore box has a guide cone 11, whose upper end is fixedly connected to the ore box and whose lower end is fixedly connected to a guide rope 6. Limiting rods 12 are symmetrically arranged on both sides of the outer wall of the guide cone 11, and the limiting rods 12 are fixedly connected to the outer wall of the guide cone 11. The ore box is placed in the ore box installation slot 8, the guide cone 11 is inserted into the cone connecting slot 13, and the limiting rod 12 falls into the rod limiting slot 14 to limit and fix the ore box to the mining machine frame 1. The guide cone 11 is inserted into the cone connecting slot 13, and the limiting rod 12 slides into the rod limiting slot 14 as the ore box falls to limit the falling position of the ore box.

[0054] The ore box described in this invention includes a first ore box 2 and a second ore box 3.

[0055] The mining frame 1 of the present invention is provided with a rope hoisting mechanism 15. The rope hoisting mechanism 15 includes a truss 16, columns 17, an operating frame 18, a docking and moving mechanism 19, and a rope hoisting component 20. The truss 16 is provided above one side of the frame, and columns 17 are provided at both ends of the truss 16. The upper end of the column 17 is fixedly connected to the truss 16, and the lower end is fixedly connected to the mining frame 1. The operating frame 18 is provided on the truss 16. One end of the operating frame 18 is connected to the truss 16 via the docking and moving mechanism 19, and the other end is provided with the rope hoisting component 20. The docking and moving mechanism 19 is used to drive the operating frame 18 to move laterally and longitudinally relative to the truss 16. The first ore box 2 and the second ore box 3 are connected by a hook 4 and a hoisting rope 21. Driven by the lifting equipment 22, the lower end of the lifting rope 21 is detachably connected to the hook 4 via the rope 23. The docking and moving mechanism 19 drives the operating frame 18 to approach the first ore box 2 or the second ore box 3. The rope lifting and hooking component 20 removes the rope 23 from the first ore box 2 or the second ore box 3. The docking and moving mechanism 19 drives the operating frame 18 to move to the second ore box 3 or the first ore box 2. The rope lifting and hooking component 20 hooks the rope 23 onto the second ore box 3 or the first ore box 2, so that after the first ore box 2 is filled, it can be lifted by the lifting equipment 22 and unloaded. After the first ore box 2 returns to its position, the rope lifting and hooking component 20 removes the rope 23 from the first ore box 2 and replaces it on the second ore box 3, which facilitates the lifting and placement of the second ore box 3.

[0056] The rope hooking component 20 of this invention includes a hooking base 24, a rope drive cylinder 25, a rope hook block 26, an adjusting drive cylinder 27, a hinge plate 28, and a rope limiting cylinder 29. The other end of the operating frame 18 is provided with the hooking base 24. Rope drive cylinders 25 are symmetrically arranged on the hooking base 24, and the rope drive cylinders 25 are inclined towards the hook 4. The extended ends of the two rope drive cylinders 25 are provided with rope hook blocks 26 facing each other. The rope hook blocks 26 are fixedly connected to the extended ends of the rope drive cylinders 25. The cylinder seat of the rope drive cylinder 25 is hinged to the hooking base 24 via a universal joint. An adjusting drive cylinder 27 is provided between the two rope drive cylinders 25. A hook-opening seat 30 is provided below the rope drive cylinder 25. One end of the adjusting drive cylinder 27 is hinged to the hook-up base 24, and the other end is symmetrically provided with hinge plates 28. The two hinge plates 28 are arranged in a V-shape and are placed between the two rope drive cylinders 25. One end of the hinge plate 28 is hinged to the outer wall of the cylinder seat of the rope drive cylinder 25 on the same side, and the other end is hinged to the extended end of the adjusting drive cylinder 27. The hook-opening seat 30 is inclined towards the baffle 31 of the hook 4. The end of the hook-opening seat 30 facing the hook 4 is the top opening of the baffle, and the other end is fixedly connected to the hook-up base 24. The hook-opening seat 30 is provided with a rope limiting groove 32 for rope limiting. A rope limiting cylinder 29 is provided above the groove 32. The rope limiting cylinder 29 extends or retracts to close or open the rope limiting groove 32. The rope limiting cylinder 29 is connected to the hook-and-lift base 24. The rope drive cylinder 25, the adjusting drive cylinder 27, and the rope limiting cylinder 29 are respectively connected to the mining control system. When the hoisting rope 21 is to be grabbed, the rope limiting groove 32 is in the open state, the adjusting drive cylinder 27 extends, and the telescopic rod of the rope drive cylinder extends. Through the docking moving mechanism 19, the hook-opening seat 30 is driven to approach the baffle 31 of the hook 4. The hook-opening seat 30 presses against the baffle 31, opening the hook 4. The adjusting drive cylinder 27 retracts, causing the two rope drive cylinders 25 to... The cable moves in an inward arc, and the telescopic rod of the cable drive cylinder 25 retracts. The hook block 26 hooks the hoisting rope 21 and moves it downward into the cable limiting groove 32. When the rope 23 is placed in the cable limiting groove 32, the cable limiting cylinder 29 is extended to limit the rope 23 in the cable limiting groove 32. The docking moving mechanism 19 drives the operating frame 18 to move the rope picking and hanging component 20 to the hook 4 of another mine box. The opening seat 30 opens the baffle 31 of the hook 4, and the cable limiting groove 32 enters the hook 4. The rope 23 enters the hook 4 upward under the action of the lifting equipment 22. The opening seat 30 then exits, completing the replacement of the rope 23.

[0057] The operating frame 18 of the present invention is provided with a rope picking and hanging rotation mechanism 33. The rope picking and hanging rotation mechanism 33 includes a rotary motor 34 and a slewing bearing. The rotary motor 34 is provided on one side of the picking and hanging base 24. The picking and hanging base 24 is connected to the operating frame 18 via the slewing bearing. The slewing bearing is driven by the rotary motor 34 so that the picking and hanging base 24 is driven to rotate by the rotary motor 34, thereby rotating the rope 23.

[0058] The first ore box 2 and the second ore box 3 of this invention are respectively provided with rope changing docking sensing components. The rope changing docking sensing components include rope changing position sensors 35. Ore box handle frames 36 are respectively fixed to the upper end of the first ore box 2 and the upper end of the second ore box 3. The hook 4 is fixedly installed on the ore box handle frame 36. The rope changing position sensor 35 is provided on one side of the baffle 31 of the hook 4. The rope changing position sensor 35 is installed on the ore box handle frame 36. The rope changing position sensor 35 is connected to the mining control system. The lower end of the operating frame 18 rests on the ore box handle frame 36. When the rope changing position sensor 35 senses the operating frame 18, the operating frame 18 moves into position. The rope changing position sensor 35 can sense whether the operating frame 18 has moved into position, which facilitates subsequent rope changing operations.

[0059] The hook 4 of the present invention is provided with an out-of-position contact sensor 37 on the other side. The out-of-position contact sensor 37 is installed on the ore box handle frame 36. The out-of-position contact sensor 37 is connected to the mining control system so as to know that the operating frame 18 has moved to the other side of the opening of the hook 4 and the operating frame 18 needs to be moved again.

[0060] The mining frame 1 of this invention has a mining robotic arm I 38 for crushing ore on one side of its front end and a mining robotic arm II 39 for collecting ore on the other side. A muck loader 84 is located at the front end of the mining frame 1 and is connected to the mining frame 1. The mining robotic arm II 39 scoops ore into the inlet of the muck loader 84. The outlet of the muck loader 84 is connected to the first ore box 2 or the second ore box 3 on the mining frame 1 via an ore conveying mechanism 85. The ore conveying mechanism 85, the muck loader 84, the mining robotic arm II 39, and the mining robotic arm I 38 are all controlled by a mining control system to enable the two robotic arms to work together. The mining robotic arm I 38 is used for crushing and stripping ore from the seabed, and the mining robotic arm II 39 is used to collect and scoop the crushed ore into the inlet of the muck loader 84. The muck loader 84 delivers the ore to the ore conveying mechanism 85, and the ore conveying mechanism 85 transports the ore into the first ore box 2 or the second ore box 3. The two robotic arms work together, resulting in high mining efficiency.

[0061] The mining robotic arm I 38 of this invention includes a working arm I, a swing seat I at the lower end of the working arm I, a fixed seat I on one side of the swing seat I, the fixed seat I being fixedly connected to the mining frame 1, the swing seat I being hinged to the fixed seat I, a swing cylinder I on the left or right side of the swing seat I, one end of the swing cylinder I being hinged to the mining frame 1, and the other end being hinged to the swing seat I, the lower end of the working arm I being hinged to the swing seat I, and a working drive cylinder I being provided on the swing seat I, the lower end of the working drive cylinder I being hinged to the swing seat I, and the upper end being hinged to the working arm I, the swing cylinder I and the working drive cylinder I being respectively connected to the mining control system, the working end of the working arm I being equipped with a crushing component, the crushing component being a beak hook, so as to realize the left and right swing of the swing seat I through the swing cylinder I, thereby driving the working arm I to swing, and the working arm I being driven to lift and lower through the working drive cylinder I, thereby realizing the crushing and stripping operation of the beak hook on the ore.

[0062] The mining robotic arm II 39 of this invention includes a working arm 40, a swing seat 41 at the lower end of the working arm 40, a fixed seat 42 on one side of the swing seat 41, the fixed seat 42 being fixedly connected to the mining frame 1, the swing seat 41 being hinged to the fixed seat 42, a swing cylinder 43 on the left or right side of the swing seat 41, one end of the swing cylinder 43 being hinged to the mining frame 1, and the other end being hinged to the swing seat 41, the lower end of the working arm 40 being hinged to the swing seat 41, and a working drive is provided on the swing seat 41. The lower end of the working drive cylinder 44 is hinged to the swing seat 41, and the upper end is hinged to the working arm 40. The swing cylinder 43 and the working drive cylinder 44 are respectively connected to the mining control system. The working end of the working arm 40 is equipped with a collection component, which is a bucket. The swing cylinder 43 realizes the left and right swing of the swing seat 41, thereby driving the working arm 40 to swing. The working drive cylinder 44 drives the working arm 40 to lift and lower, thereby driving the working arm 40 to lift and lower, realizing the collection and conveying of ore by the bucket.

[0063] The slag remover 84 of this invention includes a collecting plate 45, a collecting impeller 46, a collecting regulating cylinder, and a collecting cylinder. The collecting plate 45 is provided at the front end of the mining frame 1. The collecting plate 45 is inclined from back to front and downward. The front end of the collecting plate 45 is close to the ground, and the rear end is configured to cooperate with the inlet of the ore conveying mechanism 85. The rear end of the collecting plate 45 is hinged to the mining frame 1. The collecting plate 45 is driven by the collecting regulating cylinder. One end of the collecting regulating cylinder is hinged to the collecting plate 45, and the other end is hinged to the mining frame 1. The collecting impeller 46 is arranged at intervals on the left and right sides of the collecting plate 45. The collecting impeller 46 is driven by the collecting cylinder. The collecting cylinder and the collecting regulating cylinder are fixedly connected to the mining frame 1. The collecting cylinder is connected to the mining control system so that by driving the collecting impeller 46 to rotate, the ore scraped onto the collecting plate 45 by the bucket is conveyed to the ore conveying mechanism 85. The tilt angle of the front end of the collecting plate 45 can be adjusted by the collecting regulating cylinder as needed.

[0064] The ore conveying mechanism 85 of the present invention is provided with guide plates 47 on both sides of the inlet. The two guide plates 47 are arranged in a figure-eight shape and are inclined. The width between the front ends of the two guide plates 47 is greater than the width between the rear ends of the two guide plates 47. The guide plates 47 are fixedly connected to the collecting plate 45 so as to guide the ore from the collecting plate 45 into the ore conveying mechanism 85 through the guide plates 47.

[0065] The ore conveying mechanism 85 of the present invention includes a first conveying component 48, a second conveying component 49, a third telescopic conveying component 50, a first ore box telescopic conveying component 51, and a second ore box telescopic conveying component 52. One end of the first conveying component 48 is configured to cooperate with the collecting plate 45, and the other end is configured to cooperate with one end of the second conveying component 49. The other end of the second conveying component 49 is provided with the third telescopic conveying component 50 and the first ore box telescopic conveying component 51. The other end of the third telescopic conveying component 50 is provided with the second ore box telescopic conveying component 52. The second conveying component 49 cooperates with the first ore box telescopic conveying component 51 to realize the feeding of the first ore box 2, or the second conveying component 49 cooperates with the first ore box telescopic conveying component 51 to realize the feeding of the first ore box 2. Three telescopic conveyor components 50 cooperate, with the third telescopic conveyor component 50 cooperating with the second ore box telescopic conveyor component 52 to realize the feeding of the second ore box 3. The first ore box telescopic conveyor component 51 and the second ore box telescopic conveyor component 52 are slidably connected to the mining frame 1. The first ore box telescopic conveyor component 51 and the second ore box telescopic conveyor component 52 are driven by the conveying drive mechanism 53 to feed the first ore box 2 through the first conveyor component 48, the second conveyor component 49, and the first ore box telescopic conveyor component 51. After the first ore box 2 is full, the second ore box 3 is fed through the first conveyor component 48, the second conveyor component 49, the third telescopic conveyor component 50, and the second ore box telescopic conveyor component 52.

[0066] A mining operation equipment includes a work vessel 54 and a work vessel control system. It is characterized by further including the aforementioned ore-box-guided mining robot. The mining control system is connected to the work vessel control system. A robot winch 56 is installed on the deck 55 of the work vessel 54 and is connected to the work vessel control system. A lifting device 22 is installed on the work vessel 54 and is connected to the work vessel control system. The lifting device 22 controls the raising and lowering of the mining robot via the robot winch 56, lowering the mining robot to the seabed for mining operations, and retrieving the mining robot after the operation is completed.

[0067] The lifting equipment 22 described in this invention is a ore box hoisting winch. The hoisting rope 21 is controlled by the ore box hoisting winch to lift the first ore box 2 and the second ore box 3 onto the work vessel 54, unload them, and then return them to the seabed.

[0068] The work vessel 54 of the present invention is provided with a ore box guiding and moving mechanism 57. The ore box guiding and moving mechanism 57 includes a translational guide frame 58 and an ore box driving railcar 59. The translational guide frame 58 is provided above the work vessel 54. The lower end of the translational guide frame 58 is fixedly connected to the deck 55 via a bracket. The ore box driving railcar 59 is installed on the translational guide frame 58. The hoisting rope 21 passes through the ore box driving railcar 59 and is driven by the ore box hoisting winch so as to guide the lifting and lowering of the ore box through the ore box driving railcar 59. At the same time, the ore box driving railcar 59 can also drive the ore box to move along the translational guide frame 58.

[0069] The present invention provides a detachable guide cone component 60 on the first ore box 2 or the second ore box 3. The detachable guide cone component 60 includes a guide sleeve 61 and a connecting pin 62. The guide sleeve 61 is fixedly provided at the lower end of the first ore box 2 and the second ore box 3 respectively. The guide sleeve 61 is provided with a connecting pin hole. The upper part of the guide cone 11 is provided with an insertion pin hole. The upper part of the guide cone 11 is inserted into the guide sleeve 61 and fixed by the connecting pin 62. By pulling out the connecting pin 62, the guide cone 11 can be separated from the guide sleeve 61, thereby realizing the disassembly and assembly of the guide cone 11, which facilitates the replacement of the first ore box 2 or the second ore box 3.

[0070] The work vessel 54 of the present invention is equipped with a ore box clamping mechanism 63, which includes a pin-driven manipulator 64, a pin-driven cylinder 65, a locking clamping claw 66, and a locking clamping claw drive cylinder 67. The work vessel 54 is also equipped with an ore box conversion seat 68, which is fixed to the deck 55. The ore box conversion seat 68 has an ore box conversion groove 69, with a conical limiting hole 70 in the middle. A guide groove 71 is provided on one side of the conical limiting hole 70, with one end of the guide groove 71 communicating with the conical limiting hole 70 and the other end extending to the edge of the ore box conversion seat 68. The conical limiting hole 70 is located on both sides of the guide groove 71. A pin-driven manipulator 64 is provided on each side. The pin-driven manipulator 64 is driven by a pin-driven cylinder 65. A locking gripper 66 is provided below the pin-driven manipulator 64. The locking gripper 66 is driven by a locking gripper driven cylinder 67. The locking gripper driven cylinder 67 and the pin-driven cylinder 65 are respectively fixedly connected to the ore box conversion seat 68. When the ore box enters the ore box conversion slot 69, the guide cone 11 enters the cone limit hole 70. The locking gripper 66 clamps the guide cone 11, fixing the ore box and the ore box conversion seat 68. The pin-driven manipulator 64 is driven to push the pin out of the connecting pin hole and the insertion pin hole, which facilitates the subsequent separation of the ore box and the guide cone 11.

[0071] The pin-driven manipulator 64 of the present invention is provided with a push guide plate 72, and the pin-driven manipulator 64 is slidably connected to the push guide plate 72. The locking clamping claw 66 is provided with a clamping guide plate 73, and the locking clamping claw 66 is slidably connected to the clamping guide plate 73. The clamping guide plate 73 and the push guide plate 72 are respectively fixedly connected to the ore box conversion seat 68, so that the push guide plate 72 guides the horizontal movement of the pin-driven manipulator 64, and the clamping guide plate 73 guides the horizontal movement of the locking clamping claw 66.

[0072] The ore box conversion groove 69 of the present invention has an opening groove on one side of the guide groove hole 71. The upper part of the inner wall of the ore box conversion groove 69 opens outward to form an outer guide flare 74, and the lower part of the inner wall of the ore box conversion groove 69 forms an inner guide flare 75 from bottom to top and outward. The opening groove facilitates the ore box guide rope 6 to enter the cone head limiting hole 70. The ore box is guided into the ore box conversion groove 69 through the outer guide flare 74, and the ore box is further guided to its position in the conversion box through the inner guide flare 75, and the guide cone 11 is guided into the cone head limiting hole 70.

[0073] The upper end of the cone-shaped limiting hole 70 of the present invention is provided with a limiting arc plate 76. The limiting arc plate 76 is arc-shaped and opens on one side facing the guide slot hole 71. The lower end of the limiting arc plate 76 is fixedly connected to the ore box conversion slot 69. The upper end face of the limiting arc plate 76 is inclined. The limiting arc plate 76 is provided with an axial limiting groove 77 above the pin shaft pushing robot 64. The bottoms of the two axial limiting grooves 77 are on the same horizontal plane. The limiting rod 12 is fixedly connected to the outer wall of the guide sleeve 61. The limiting rod 12 is horizontally set and located above the connecting pin 62. The limiting rod 12 and the axial limiting groove 77 are configured to guide the guide cone 11 into the cone-shaped limiting hole 70 through the limiting arc plate 76. Through the cooperation of the limiting rod 12 and the axial limiting groove 77, it is determined that the connecting pin 62 is horizontal and that the connecting pin 62 and the pin shaft pushing robot 64 are on the same horizontal plane.

[0074] The present invention provides a guide roller 78 on one side of the guide slot hole 71. The guide roller 78 is fixedly connected to the deck 55 via a bracket. The guide roller 78 has a guide groove 79 in the middle. The inner wall of the guide groove 79 is flared outward in a trumpet shape on both sides so as to guide the suspension rope 21 to fall into the guide groove 79 through the inner wall of the guide groove 79, and then pass through the guide groove 79 into the guide slot hole 71. The guide roller 78 is relatively long to ensure that the suspension rope 21 can pass through the guide groove 79.

[0075] The present invention provides a lifting and guiding mechanism between the robot winch 56 and the ore box-guided mining robot. The lifting and guiding mechanism includes a robot guide roller 80. The robot guide roller 80 is installed on the translational guide frame 58. The mining frame 1 is provided with a robot hoisting hole 81. The cable of the robot winch 56 passes through the robot guide roller 80 and the robot hoisting hole 81 and is fixedly connected to the mining frame 1 so as to guide the lifting and lowering of the mining robot through the robot guide roller 80.

[0076] The work vessel 54 of the present invention is provided with a sliding platform 82 above the moon pool. The sliding platform 82 is slidably connected to the deck 55 of the work vessel 54. The sliding platform 82 is driven by a sliding platform drive cylinder. A robot tray 83 is fixedly provided at the upper end of the sliding platform 82. The robot tray 83 is fixedly connected to the sliding platform 82 so that when in use, the mining robot is placed on the sliding platform 82, and the sliding platform 82 is moved above the moon pool by the sliding platform drive cylinder. After the mining robot is lifted, the sliding platform drive cylinder drives the sliding platform 82 to move out of the moon pool, so that the mining robot can fall from the moon pool to the seabed.

[0077] As attached Figure 1-17This invention includes a first ore box 2 and a second ore box 3 mounted on a mining frame 1. The lower ends of the two ore boxes are connected to the mining frame 1 via ore box lifting and guiding mechanisms 5. Once either the first ore box 2 or the second ore box 3 is full, it can be lifted for unloading. Simultaneously, the other ore box can be loaded. After unloading, the empty ore box falls and is then hoisted onto the full ore box on the mining frame 1 via a rope-hanging mechanism 15, and then lifted again. The empty ore box continues to be loaded, thus achieving simultaneous lifting and unloading through the two ore boxes. Simultaneous loading significantly improves mining efficiency. The hook is a conventional hook, such as the one disclosed in CN102659022A, which includes a hook body, a baffle, and a torsion spring. The hook body has a baffle mounting seat. Under the action of the torsion spring, the free end of the baffle is pressed tightly against the head of the hook body, thereby closing the opening and preventing the wire rope from slipping out of the hook. Pressing the baffle opens the hook for loading and unloading the hoisting rope. For ease of description, the attached image is used. Figure 1 The location is explained using the diagram; other attached diagrams are also provided. Figure 1Mining robotic arms I 38 and II 39 are located in front of the mining frame 1. The first ore box 2 is in front, and the second ore box 3 is behind it. A truss 16 is positioned to the right of the first and second ore boxes 2 and 3. A telescopic conveying component 51 for the first ore box and a telescopic conveying component 52 for the second ore box are positioned to the left of the first and second ore boxes 2 and 3. In this embodiment, the first conveying component 48 includes conveying component I and conveying component II. The front end of conveying component I is connected to the collecting plate 45, and the rear end is connected to conveying component II. Conveying component II is connected to the second conveying component 49. The second conveying component 49 is connected to the front end of the third telescopic conveying component 50 or the telescopic conveying component of the first ore box. Part 51 is connected to the rear end of the third telescopic conveyor component 50, which is connected to the second ore box telescopic conveyor component 52. Conveying components I, II, and 49 adopt existing conveyor belt mechanisms, such as existing belt conveyors, with motors driving the belt for transmission. The installation angle can be adjusted according to requirements. Furthermore, the third telescopic conveyor component 50, the first ore box telescopic conveyor component 51, and the second ore box telescopic conveyor component 52 all adopt existing telescopic conveyor mechanisms, such as telescopic belt conveyors, or the conveyor disclosed in Chinese Patent Publication No. CN102514905A, entitled "Conveyor," where the inner frame and outer frame together constitute the conveyor frame. The frame can extend and retract relative to the outer frame, and the conveyor frame can also be raised and lowered. The docking angle of the conveyor frame can be adjusted, and installation can be selected according to needs. When the third telescopic conveyor component 50 needs to dock with the second output component 49, it extends forward to dock with the second output component 49. When not in use, it can be retracted. After the first ore box telescopic conveyor component 51 extends, it docks with the first ore box 2. The extension length can be adjusted to ensure that the first ore box 2 is full. After the first ore box 2 is full, the first ore box telescopic extension component 51 retracts and separates from the first ore box 2. Similarly, after the second ore box telescopic conveyor component 52 extends, it docks with the second ore box 3. The extension length can be adjusted to ensure the second ore box 3 is fully filled. After the second ore box 3 is full, the second ore box telescopic extension component 52 retracts and separates from the second ore box 3. The first ore box telescopic conveying component 51 and the third telescopic conveying component 50 can also slide relative to the mining frame 1. A guide rail is provided on the mining frame 1. The first ore box telescopic conveying component 51 and the second ore box telescopic conveying component 52 are slidably connected to the guide rail via a motor and a transmission component, respectively. The transmission component can be an existing component such as a lead screw, gear, or rack, and can be set according to requirements, as long as it can drive the first ore box telescopic conveying component 51 and the second ore box telescopic conveying component 52 to slide relative to the guide rail. (See attached diagram) Figure 1When the first ore box 2 is full, the first ore box telescopic conveyor component 51 needs to be moved backward to move it away from the first ore box 2 and avoid interfering with the lifting of the first ore box 2. At this time, the first ore box telescopic conveyor component 51 is driven by a motor and transmission components to move backward along the guide rail. It stops when it moves into position. The operation of the motor is controlled by the mining control system. Alternatively, proximity switches and other induction sensors can be set at the front and rear ends of the guide rail. When the proximity switch senses the first ore box telescopic conveyor component 51, it indicates that the first ore box telescopic conveyor component 51 has moved into position. The proximity switch transmits a signal to the mining control system, and the mining control system shuts down the motor. The process and principle of the second ore box telescopic conveyor component 52 moving along the guide rail are similar to those of the first ore box telescopic conveyor component 51, and will not be described in detail here. In this invention, the docking and moving mechanism 19 of the operating frame 18 can adopt an existing moving drive mechanism. The operating frame 18 can move left, right, forward and backward along the truss 16, as shown in the attached figure. Figure 1 A track is installed on truss 16, with a rack in the middle of the track. Both the track and the rack are fixedly connected to truss 18. A sliding frame is provided between operating frame 18 and truss 16, and the sliding frame is slidably connected to the track. A front and rear drive motor is installed on the sliding frame, and a gear is installed at the output end of the front and rear drive motors. The gear meshes with the rack, and the front and rear drive motors drive the sliding frame to slide back and forth along truss 16. Similarly, a left and right drive motor and a slide rail are installed on the sliding frame, and a left and right gear is installed on the output shaft of the left and right drive motors. A left and right rack is installed on operating frame 18, and operating frame 18 is slidably connected to the slide rail. The left and right movement of operating frame 18 is realized through the meshing of the left and right racks and gears. The docking and moving mechanism 19 can also adopt other mechanisms in the prior art, as long as it can realize the front and rear and left and right movement of operating frame 18. In this invention, the mining control system is connected to the working boat control system, and the entire mining process is controlled by the working boat control system. Both the mining control system and the working boat control system can be PLC control systems. The mining operation method of the mining operation equipment of this invention includes the following steps: S1: Lowering the ore box-guided mining robot: In the initial state, the robot pallet 83 is located above the moon pool of the work vessel 54. The ore box-guided mining robot is placed on the robot pallet 83. The cable of the robot winch 56 passes through the robot guide roller 80 and is fixedly connected to the robot lifting hole 81 on the mining frame 1. The lifting rope 21 of the lifting device 22 passes through the ore box drive railcar 59 and is hung on the hook 4 of the first ore box 2. The lower ends of the first ore box 2 and the second ore box 3 are both installed on the mining frame 1. The lower ends of the first ore box 2 and the second ore box 3 are respectively connected to the mining frame 1 through the ore box lifting guide connection mechanism 5, as shown in the attached figure. Figure 8After the work vessel 54 transports the ore box-guided mining robot to the operating area, the work vessel's control system controls the robot winch 56 to retract the cable, lifting the ore box-guided mining robot and separating it from the robot tray 83. The work vessel's control system then controls the slide drive cylinder to move the slide 82 towards the robot winch 56. After the slide 82 leaves the moon pool, the ore box-guided mining robot is positioned above the moon pool. The work vessel's control system then controls the robot winch 56 to lower the cable, allowing the ore box-guided mining robot to pass through the moon pool and descend to the seabed. Simultaneously, the ore box lifting winch releases the cable, ensuring that the first ore box 2 falls along with the ore box-guided mining robot. Once the ore box-guided mining robot reaches the seabed, mining operations begin. S2: Mining operation: First, load the first ore box 2. The third telescopic conveyor component 50 is in the retracted state. The second output component 49 docks with the first ore box telescopic conveyor component 51. The first ore box telescopic conveyor component 51 moves to the left side of the first ore box 2 and extends to dock with the first ore box 2. Start the muck loader 84, conveying component I, conveying component II, second conveying component 49, and first ore box telescopic conveying component 51. The ore box-guided mining robot performs ore crushing operation through mining robotic arm I 38. The ore box-guided mining robot scoops the crushed ore into the inlet of the muck loader 84 through mining robotic arm II 39. The ore enters the first ore box 2 through conveying component I, conveying component II, second conveying component 49, and first ore box telescopic conveying component 51. The length of the first ore box telescopic conveying component 51 extending to the right can be adjusted to correspond to different positions of the first ore box 2, making it easy to fill the first ore box 2. Cameras facing the first ore box 2 and the second ore box 3 can be installed on the mining frame 1. The cameras are connected to the mining control system, allowing operators to easily check whether the ore boxes are full of material at any time. S3: The first ore box 2 is filled and lifted; the second ore box 3 is loaded. Step S2 is repeated until the first ore box 2 is full. After the first ore box 2 is full, the first ore box telescopic conveyor component 51 retracts, and then the first ore box telescopic conveyor component 51 is driven to move backward, forming an attached... Figure 1 In the state of the second ore box 3, the third conveying component 50 extends forward and docks with the second conveying component 49, the second ore box telescopic conveying component 52 moves backward to the left side of the second ore box 3, and the second ore box telescopic output component 52 extends towards the second ore box 3 and docks with the second ore box 3. The slag remover 84, conveying component I, conveying component II, second conveying component 49, third conveying component 50, and second ore box telescopic conveying component 52 are started to feed material into the second ore box 3. At the same time, the work vessel control system starts the lifting equipment 22, which lifts the first ore box 2. The guide rope 6 at the bottom of the first ore box 2 is released simultaneously to guide the rise of the first ore box 2. S4: After the first ore box 2 is fully loaded and lifted, a new ore box is replaced: The ore box lifting winch is driven to lift the first ore box 2 above the deck of the work vessel 54. After the first ore box 2 rises above the deck, the ore box drive railcar 59 is started to move the first ore box 2 horizontally above the ore box conversion seat 68 on the deck. At the same time, the guide rope 6 at the bottom of the first ore box 2 moves with the first ore box 2. The guide rope 6 approaches and passes through the guide roller 78 and approaches the ore box conversion seat 68. The ore box lifting winch is then driven to lower the first ore box 2 downwards towards the ore box conversion seat 68. 8. The outer guide flare 74 of the ore box conversion seat 68 guides the first ore box 2 into the ore box conversion seat 68. As the first ore box 2 continues to move downward, the inner guide flare 75 of the ore box conversion seat 68 further guides the position of the first ore box 2, causing the guide cone 11 at the lower end of the first ore box 2 to enter the cone limiting hole 70 of the ore box conversion seat 68. The guide rope 6 connected to the guide cone 11 passes through the guide groove 71 on the side of the ore box conversion seat 68 and enters the cone limiting hole 70. The upper end of the guide cone 11 and the lower end of the first ore box 2... The guide sleeve 61 is inserted into the guide cone 11 and fixed by the connecting pin 62. A limit rod 12 is fixed on the guide sleeve 61 above the connecting pin 62. As the first ore box 2 continues to fall, the limit rod 12 falls and touches the limit arc plate 76 on the ore box conversion seat 68. Guided by the limit arc plate 76, the limit rod 12 is embedded in the axial limit groove 77 of the limit arc plate 76. At the same time, the connecting pin 62 and the two pin shafts in the ore box conversion seat 68 push the manipulator 64 towards each other, and the lower part of the guide cone 11 is engaged with the two locking grippers 66. Conversely, the locking gripper drive cylinder 67 is activated, driving the two locking grippers 66 to extend and grip the guide cone 11, thus limiting and fixing the first ore box 2 and the ore box conversion seat 68. The pin shaft push manipulator 64 is activated, and the pin shaft push manipulator 64 extends from the tail side of the connecting pin 62, pushing the connecting pin 62 towards the pin shaft push manipulator 64 on the head side of the connecting pin 62 until the connecting pin 62 separates from the guide sleeve 61 and the guide cone 11. The cable of the ore box hoisting winch at the top of the first ore box 2 is released, and the fully loaded first ore box 2 is lifted away by a crane. S5: Replace the ore box: Take another empty ore box as the new first ore box 2. Place the new first ore box 2 on the ore box conversion seat 68. The lower end of the guide sleeve 61 opens downward and outward to form a conical guide flare. The new first ore box 2 is guided by the conical guide flare and engages with the guide cone 11 on the ore box conversion seat 68. The limiting rod 12 of the new first ore box 2 engages with the limiting arc plate 76. The guide sleeve 61 of the empty first ore box 2 is inserted into the guide cone 11 on the ore box conversion seat 68. Activate the pin shaft on one side of the head of the connecting pin 62 to push the manipulator 64, inserting the connecting pin 62 into the guide sleeve 61 and the guide cone 11, and place the new first ore box 2 into the ore box conversion seat 68. The ore box 2 is fixed to the guide cone 11. The upper end of the new first ore box 2 is connected to the cable of the ore box hoisting winch. The locking clamping claw drive cylinder 67 is activated, the locking clamping claw 66 retracts and separates from the guide cone 11. The ore box hoisting winch is activated to hoist the first ore box 2 above the ore box conversion seat 68. The ore box drive railcar 59 is activated to move the first ore box 2 horizontally above the deck moon pool. The ore box hoisting winch is activated to lower the first ore box 2. At the same time, the ore box guide winch 7 of the first ore box 2 is driven to retract the guide rope 6 and guide the new first ore box 2 back to the ore box guide mining robot and connect it to the mining frame 30 of the ore box guide mining robot. S6: The rope on the new first ore box 2 is automatically switched to the fully loaded second ore box 3: The new first ore box 2 mates with the ore box mounting slot 8 on the mining frame 1, the guide cone 11 at the lower end of the new first ore box 2 mates with the cone connecting slot 13, the limiting rod 12 at the lower end of the new first ore box 2 mates with the guide positioning plate 10 for guidance, the limiting rod 12 is embedded in the rod limiting slot 14, and the new first ore box 2 falls back onto the mining frame 1 and is in place. In the initial state, the operating frame 18 is located between the first ore box 2 and the second ore box 3. The rope changing position sensor 35 of the first ore box 2 is located behind the hook 4 of the first ore box 2, that is, the baffle 31 of the hook 4 of the first ore box 2 faces backward. The rope changing position sensor 35 of the second ore box 3 is located in front of the hook 4 of the second ore box 3, that is, the baffle 31 of the hook 4 of the second ore box 3 faces forward. In this way, the docking moving mechanism 19 moves forward to the first ore box 2 to remove the rope 23. Then, the rope picking and hanging component 20 rotates 180 degrees under the action of the rotary motor 34 and moves backward to approach the second ore box 3, so that the rope can be hung on the hook 4 of the second ore box 3. Specifically: As attached Figure 5 and attached Figure 6When rope 23 needs to be removed, rope limiting cylinder 29 is in the retracted state, rope limiting groove 32 is in the open state, adjusting drive cylinder 27 extends, and the telescopic rod of rope drive cylinder 25 extends. Through docking moving mechanism 19, it drives operating rod 18 to bring hook opening seat 30 closer to the baffle 31 of hook 4 on the new first ore box 2. The hook opening seat 30 squeezes and opens hook 4. Adjusting drive cylinder 27 retracts, causing the two rope drive cylinders 25 to move in an arc inward. The telescopic rod of rope drive cylinder 25 retracts, and through hook block 26, rope 23 is hooked and moved downward into rope limiting groove 32. Rope 23 and lifting rope 21 are both made of steel wire rope. Rope 23 is looped and hung on hook 4. Rope 23 will deform under compression. When the two rope drive cylinders 25 move in an arc inward, the distance between the two rope drive cylinders 25 decreases, and rope 23 is in the two rope drive cylinders 25 and its... When the rope 23 moves downward into the rope limiting groove 32 under the action of the hook block 26, it becomes slender due to compression. When the rope 23 is placed in the rope limiting groove 32, the rope limiting cylinder 29 extends, limiting the rope 23 in the rope limiting groove 32. The docking moving mechanism 19 drives the operating frame 18 to move backward with the rope picking and hanging component 20. The rotary motor 34 rotates the rope picking and hanging component 20 and the rope 23 180 degrees. The docking moving mechanism 19 moves the rope picking and hanging component 20 and the rope 23 backward until the rope changing position sensor 35 on the handle frame 36 of the second ore box 3 senses the operating frame 18. The operating frame 18 continues to approach the hook 4 of the second ore box 3. The hook seat 30 opens the baffle 31 of the hook 4, and the rope limiting groove 32 enters the hook 4. The adjusting drive cylinder 27 extends, causing the two rope drive cylinders 25 to expand outward, as shown in the attached figure. Figure 6 In state (A), the rope limiting cylinder 29 retracts, the rope 23 loses its binding force, and enters the hook 4 of the second ore box 3 from the rope limiting groove 32. Alternatively, the lifting equipment 22 can retract the lifting rope 21, so that the rope 23 quickly enters the hook 4 of the second ore box 3 from the rope limiting groove 32 under the tension of the lifting rope 21. The docking moving mechanism 19 moves forward with the rope picking and hanging component 20 to the space between the first ore box 2 and the second ore box 3 to wait for the next rope replacement operation. After the first ore box 2 is fully loaded, it is lifted and replaced with a new empty ore box. The fully loaded second ore box 3 is lifted and replaced with a new empty second ore box 3 via the ore box conversion seat 68. It then falls back onto the mining frame 1. During this process, the new first ore box 2 is loaded: the third telescopic conveyor component 50 is activated to retract, and the first ore box telescopic conveyor component 51 is driven to move to the left side of the first ore box 2. The first ore box telescopic conveyor component 51 extends and docks with the first ore box 2. The slag remover 84, conveyor component I, conveyor component II, second conveyor component 49, and first ore box telescopic conveyor component 51 are activated. The ore box guide mining robot performs ore crushing operation through the mining robotic arm I 38. The ore box guide mining robot scoops the crushed ore into the inlet of the slag remover 84 through the mining robotic arm II 39. The ore enters the first ore box 2 through the conveyor component I, conveyor component II, second conveyor component 49, and first ore box telescopic conveyor component 51. S7: After the first ore box 2 is filled, wait for the second ore box 3 to be replaced and then fall back onto the mining machine frame 1. After falling into place, the rope 23 on the second ore box 3 is replaced with the first ore box 2 through the rope hanging mechanism 15. Then the first ore box 2 is lifted, and the second ore box continues to be filled after the replacement. This process is repeated until the mining operation is completed. The work vessel control system starts the robot winch 56 to retract the cable and lift the ore box guide mining robot. The ore box lifting winch retracts the cable at the same time. The ore box guide mining robot passes out of the moon pool and is placed above the moon pool. The work vessel control system controls the slide drive cylinder to drive the slide 82 to move towards the moon pool, so that the robot tray 83 is below the ore box guide mining robot. The work vessel control system controls the robot winch 56 and the ore box lifting winch to release the cable at the same time, so that the ore box guide mining robot falls onto the robot tray 83, ending the mining operation. In this invention, when the first ore container 2 or the second ore container 3 is fully loaded and is lifted onto the work vessel 54, there are two methods for replacing the ore container. Taking the first ore container 2 as an example, the method for the second ore container 3 is the same: A manual plug-in / plug-out connecting pin: In step S4, after the fully loaded first ore box 2 is lifted to above the deck of the work vessel 54 by the ore box hoisting winch, the operator manually pulls out the connecting pin 62 at the lower end of the first ore box 2, pulls the guide cone 11 out of the guide sleeve 61 and fixes it to one side, moves the fully loaded first ore box 2 to the ore box conversion seat 68 by the ore box drive railcar 59, and then manually unties the cable of the ore box hoisting winch on the fully loaded first ore box 2, and lifts the fully loaded first ore box 2 away by other hoisting equipment on the work vessel 2. In step S5: take an empty The ore box is placed on the ore box conversion seat 68. Then, the cable of the ore box lifting winch is manually fixed to the ore box hoisting hole 40 of the empty ore box. The empty ore box is driven to rise away from the ore box conversion seat 68 by the ore box lifting winch. Then, the previously removed guide cone 11 is manually inserted into the guide sleeve 61 of the empty ore box and the connecting pin 62 is inserted. Then, the empty ore box is moved to the deck moon pool by the drive ore box drive railcar 59. The ore box is lowered by the ore box lifting winch. The ore box guide winch 7 then retracts the guide rope 6, so that the empty ore box is quickly lowered to the ore box guide mining robot on the seabed. Another method is the automatic plug-in connector 62: In step S4, after the fully loaded first ore box 2 is lifted to above the deck of the work vessel 54 by the ore box hoisting winch, the fully loaded first ore box 2 is moved horizontally above the ore box conversion seat 68 on the deck by the ore box drive railcar 59. At the same time, the guide rope 6 moves with the first ore box 2, and the guide rope 6 approaches and passes through the guide roller 78 to approach the ore box conversion seat 68. The guide rope 6 can be installed at the lower end face of the guide cone 11 off-center. During the process of the fully loaded first ore box 2 being moved horizontally above the ore box conversion seat 68, the guide rope 6 will cause the first ore box 2 to rotate slightly under its own weight to adjust the subsequent docking angle between the first ore box 2 and the ore box conversion seat 68. The ore box hoisting winch lowers the first ore box 2, which moves downwards towards the ore box conversion seat 68. The outer wall of the first ore box 2 is guided by the outer guide flare 74 at the top of the ore box conversion seat 68, guiding it into the seat. As the first ore box 2 continues to move downwards, its outer wall is further guided by the inner guide flare 75 at the lower end of the outer guide flare 74, further guiding its position. This causes the guide cone 11 at the lower end of the first ore box 2 to enter the cone limiting hole 70 of the ore box conversion seat 68. The guide rope 6, connected to the guide cone 11, passes through the guide slot 71 on the side of the ore box conversion seat 68 and enters the cone limiting hole 70. The operator can observe from one side, which can assist in the docking of the first ore box 2 with the ore box conversion seat 68, understanding the descent angle of the first ore box 2, and the orientation of the head of the connecting pin 62. As the first ore box 2 continues to fall, the limiting rod 12 touches the limiting arc plate 76 on the ore box conversion seat 68. Guided by the limiting arc plate 76, the limiting rod 12 is embedded in the axial limiting groove 77 of the limiting arc plate 76. At the same time, The connecting pin 62 is opposite to the two pin shaft push manipulators 64 inside the ore box conversion seat 68. The lower part of the guide cone 11 is opposite to the two locking clamping claws 66. The locking clamping claw drive cylinder 67 is activated, which drives the two locking clamping claws 66 to extend and clamp the guide cone 11, thus limiting and fixing the first ore box 2 and the ore box conversion seat 68. The pin shaft push manipulator 64 is activated, and the pin shaft push manipulator 64 on one side of the tail of the connecting pin 62 extends, pushing the connecting pin 62 towards the pin shaft push manipulator 64 on one side of the head of the connecting pin 62 until the connecting pin 62 separates from the guide sleeve 61 and the guide cone 11. The cable of the ore box hoisting winch at the upper end of the first ore box 2 is released, and the fully loaded first ore box 2 is lifted away by a crane. In step S5, take an empty first ore box 2 and place it on the ore box conversion seat 68. The empty first ore box 2 is guided by the conical guide flare 29 at the lower end of the guide sleeve 61 and engages with the guide cone 11 on the ore box conversion seat 68. The limiting rod 12 of the empty first ore box 2 engages with the limiting arc plate 76. The guide sleeve 61 of the empty first ore box 2 is engaged with the guide cone 11 on the ore box conversion seat 68. The pin shaft on one side of the head of the connecting pin 62 is activated to push the manipulator 64, inserting the connecting pin 62 into the guide sleeve 61 and the guide cone 11, fixing the empty first ore box 2 to the guide cone 11, and connecting the upper end of the empty first ore box 2 to the cable of the ore box hoisting winch. Activate the locking gripper drive cylinder 67, the locking gripper 66 retracts and separates from the guide cone 11, activate the ore box lifting winch to lift the first ore box 2 above the ore box conversion seat 68, activate the ore box drive railcar 59 to move the first ore box 2 horizontally above the deck moon pool, activate the ore box lifting winch to lower the first ore box 2, and simultaneously drive the ore box guide winch 7 to retract the guide rope 6, guiding the empty first ore box 2 back quickly to the ore box guide mining robot and connecting it to the mining frame 30 of the ore box guide mining robot; in the above method, the operator assists on one side in docking the first ore box 2 with the ore box conversion seat 68 and in replacing the first ore box 2. If necessary, the operator can assist in rotating the first ore box 2 to ensure reliable docking between the first ore box 2 and the ore box conversion seat 68.

[0078] In step S5 of this invention, the empty first ore container 2 can be lifted into the ore container conversion seat 68 by other cranes on the work vessel 54, or the empty first ore container 2 can be moved to the ore container conversion seat 68 by operators. The installation method can be adjusted according to requirements. Taking the replacement of a fully loaded first ore box 2 with an empty new second ore box 2 as an example, the ore box will rotate during its descent. The first ore box 2 falls onto the mining machine frame 1, and the limiting rod 12 at the lower end of the first ore box 2 engages with the rod limiting groove 14, causing the first ore box 2 to descend into position. At this time, the baffle 31 of the hook 3 of the first ore box 2 may face forward or backward. The sensor directly opposite the baffle 31 is the rope replacement positioning sensor. Depending on the orientation of the baffles of the hook 4 on the first ore box 2 and the second ore box 3, the following situations can occur, taking the removal of the rope from the first ore box 2 and its attachment to the second ore box 3 as an example: In the first scenario, the initial state is such that the baffle 31 of the hook 4 of the first ore box 2 faces backward, and the baffle 31 of the hook 4 of the second ore box 3 faces forward. That is, the rope changing position sensor 35 of the first ore box 2 is located in front of the hook 4 of the second ore box 3. The position of the rope picking and hanging component 20 is directly opposite the position of the baffle 31 of the hook 4. In this way, the rope picking and hanging component 20 moves forward to the first ore box 2 under the drive of the docking moving mechanism 19, takes off the rope, rotates 180 degrees, and then moves backward to the hook of the second ore box 3 to hang the rope. The second configuration has the baffle 31 of the hook 4 of the first ore box 2 facing backwards, and the baffle 31 of the hook 4 of the second ore box 3 also facing backwards. In this scenario, compared to the initial state in the first scenario, the rope-attaching component 20, driven by the docking and moving mechanism 19, first moves forward to the first ore box 2 to retrieve the rope, then moves to the right, then moves backward to the rear of the second ore box 3, and then moves to the left. The rope is hung on the second ore box 3 until the rope replacement sensor 35 on the second ore box 3 senses the operating lever 18, moves it into place, and then the rope is hung on the second ore box 3. The third type has the baffle 31 of the hook 4 of the first ore box 2 facing forward, and the baffle 31 of the hook 4 of the second ore box 3 also facing forward: In this case, compared to the initial state of the first case, the operating frame 18 needs to move to the right and then forward to the front of the first ore box 2, and then move to the left. The rope changing position sensor 35 of the first ore box 2 can detect the operating frame 18. After removing the rope from the first ore box 2, the operating frame 18 moves to the right and then moves backward to the front of the second ore box 3, and then moves to the left until the rope changing position sensor 35 on the second ore box 3 detects the operating rod 18 and moves into position. Then the rope can be hung on the second ore box 3. In the fourth scenario, the baffle 31 of the hook 4 of the first ore box 2 faces forward, and the baffle 31 of the hook 4 of the second ore box 3 faces backward: In this case, compared to the initial state of the first case, the operating frame 18 needs to move to the right and then forward to the front of the first ore box 2, and then move to the left. The rope changing position sensor 35 of the first ore box 2 can detect the operating frame 18. After the rope of the first ore box 2 is removed, the operating frame 18 moves to the right and then moves backward to the rear of the second ore box 3. The rope picking and hanging part 20 rotates 180 degrees and then moves to the left until the rope changing position sensor 35 on the second ore box 3 detects the operating rod 18 and moves into position. Then the rope can be hung on the second ore box 3. The signals are transmitted through the out-of-position contact sensor 37 and the rope changing position sensor 35 on the first ore box 2 and the second ore box 3. The movement distance of the operating frame 18 from the out-of-position contact sensor 37 on the first ore box 2 or the second ore box 3 to the rope changing position sensor 35, as well as the distance of the operating frame 18 from the front or rear of the first ore box to the front or rear of the second ore box, can be preset. At the same time, the operator can know the position of the operating frame 18, the hook 4 on the first ore box 2 and the second ore box 3 in real time from the image transmitted back by the camera on the mining machine frame 1. The specific details can be adjusted according to the needs. Compared to existing technologies, firstly, the ore box is hoisted from the top using a hook, and guided by a guide rope from a ore box guide winch at the bottom, achieving guided lifting and lowering of the ore box. Two ore boxes are used simultaneously; one is hoisted while the other is loaded, and this cycle repeats, increasing the ore box transfer speed and improving mining efficiency. Secondly, the two robotic arms work collaboratively: the left-side hook crushes the ore, while the right-side bucket scoops it up, their actions not interfering with each other. Ore crushing, collection, and conveying are integrated, significantly improving ore crushing and collection efficiency, and making it suitable for complex underwater mining operations. Thirdly, this invention only uses a workboat and a ore box-guided mining robot. The ore box is integrated on the ore box-guided mining robot, eliminating the need for an underwater work platform and a lifting cabin. This reduces equipment requirements and significantly lowers operating costs. Fourthly, the ore box and mining frame are designed to be separate, eliminating the need to lift the entire robot. Only the ore box is hoisted separately, shortening the interval between operations and improving mining continuity. Fifthly, the pin on the ore box conversion seat drives the manipulator to cooperate with the connecting pin, enabling quick assembly and disassembly of the ore box. This prevents the guide cone from falling off and improves the safety and convenience of ore box replacement.

[0079] Due to the above-mentioned structure, the present invention has the advantages of guided lifting of ore boxes, alternating operation of dual ore boxes, and high mining efficiency.

Claims

1. A ore box-guided mining robot, comprising a mining frame (1) and a mining control system, characterized in that: The mining frame (1) is equipped with a ore box lifting and guiding connection mechanism (5) and an ore box. The upper end of the ore box is equipped with a hook (4) for lifting the ore box. The ore box is movably connected to the mining frame (1). After the ore box is separated from the mining frame (1), it can be quickly docked with the mining frame (1) by the ore box lifting and guiding connection mechanism (5).

2. The ore box-guided mining robot according to claim 1, characterized in that: The ore box lifting and guiding connection mechanism (5) includes a guide rope (6) and an ore box guiding winch (7). The mining frame (1) is provided with an ore box installation slot (8). The ore box installation slot (8) has a rope through hole in the middle. The lower end of the ore box is fixed with a guide rope (6). The guide rope (6) passes through the rope through hole and is driven by the ore box guiding winch (7). The ore box guiding winch (7) is fixedly connected to the mining frame (1). The ore box guiding winch (7) is controlled by the mining control system.

3. The ore box-guided mining robot according to claim 2, characterized in that: A positioning and installation component (9) is provided between the ore box and the ore box installation slot (8). The positioning and installation component (9) includes a guide positioning plate (10), a guide cone (11), and a limiting rod (12). A cone connecting slot (13) is provided in the middle of the ore box installation slot (8). A rope through hole is provided at the bottom of the cone connecting slot (13). A guide positioning plate (10) is provided on the outer side of the upper end of the cone connecting slot (13). The guide positioning plate (10) is arc-shaped. The lower end of the guide positioning plate (10) is fixedly connected to the bottom of the ore box installation slot (8). The upper surface of the guide positioning plate (10) is inclined. The guide positioning plate (10) has symmetrical rod limiting grooves (14) on both sides of its upper end face. The ore box has a guide cone (11) at its lower end. The upper end of the guide cone (11) is fixedly connected to the ore box, and the lower end is fixedly connected to the guide rope (6). The guide cone (11) has symmetrical limiting rods (12) on both sides of its outer wall. The limiting rods (12) are fixedly connected to the outer wall of the guide cone (11). The ore box is placed in the ore box installation groove (8). The guide cone (11) is inserted into the cone connecting groove (13). The limiting rods (12) fall into the rod limiting groove (14) to limit and fix the ore box to the mining machine frame (1).

4. A ore box-guided mining robot according to claim 1, 2, or 3, characterized in that: The ore box includes a first ore box (2) and a second ore box (3).

5. A ore box-guided mining robot according to claim 4, characterized in that: The mining frame (1) is provided with a rope retrieval mechanism (15), which includes a truss (16), a column (17), an operating frame (18), a docking and moving mechanism (19), and a rope retrieval component (20). The truss (16) is located on one side of the frame, and the truss (16) has columns (17) at both ends. The upper end of the column (17) is fixedly connected to the truss (16), and the lower end is fixedly connected to the mining frame (1). The operating frame (18) is located on the truss (16). One end of the operating frame (18) is connected to the truss (16) via the docking and moving mechanism (19), and the other end is provided with a rope retrieval component (20). The docking and moving mechanism (19) is used to drive the operating frame (18) relative to the truss (16). The truss (16) moves laterally and longitudinally. The first ore box (2) and the second ore box (3) are driven by the lifting equipment (22) via the hook (4) and the lifting rope (21). The lower end of the lifting rope (21) is detachably connected to the hook (4) via the rope (23). The docking moving mechanism (19) drives the operating frame (18) to approach the first ore box (2) or the second ore box (3). The rope picking and hanging component (20) removes the rope (23) from the first ore box (2) or the second ore box (3). The docking moving mechanism (19) drives the operating frame (18) to move to the second ore box (3) or the first ore box (2). The rope picking and hanging component (20) puts the rope (23) on the second ore box (3) or the first ore box (2).

6. A ore box-guided mining robot according to claim 5, characterized in that: The first ore box (2) and the second ore box (3) are respectively provided with rope changing docking sensing components. The rope changing docking sensing components include rope changing position sensors (35). The upper end of the first ore box (2) and the upper end of the second ore box (3) are respectively fixed with ore box handle frames (36). The hook (4) is fixedly installed on the ore box handle frame (36). The hook (4) has a rope changing position sensor (35) on one side of the baffle (31). The rope changing position sensor (35) is installed on the ore box handle frame (36). The rope changing position sensor (35) is connected to the mining control system. The lower end of the operating frame (18) rests on the ore box handle frame (36). The rope changing position sensor (35) senses the operating frame (18) and the operating frame (18) moves into position. The other side of the hook (4) is provided with an out-of-position contact sensor (37). The out-of-position contact sensor (37) is installed on the ore box handle frame (36). The out-of-position contact sensor (37) is connected to the mining control system.

7. A ore box-guided mining robot according to claim 5 or 6, characterized in that: The mining frame (1) has a mining mechanical arm I (38) for crushing ore on one side of its front end and a mining mechanical arm II (39) for collecting ore on the other side. The mining frame (1) has a slag remover (84) at its front end. The slag remover (84) is connected to the mining frame (1). The mining mechanical arm II (39) slags into the slag remover (84) inlet. The slag remover (84) outlet is connected to the first ore box (2) or the second ore box (3) on the mining frame (1) via an ore conveying mechanism (85). The ore conveying mechanism (85), slag remover (84), mining mechanical arm II (39), and mining mechanical arm I (38) are all controlled by the mining control system.

8. A ore box-guided mining robot according to claim 7, characterized in that: The slag remover (84) includes a collection plate (45), a collection impeller (46), a collection regulating cylinder, and a collection cylinder. The front end of the mining frame (1) is provided with a collection plate (45). The collection plate (45) is inclined from back to front and downward. The front end of the collection plate (45) is close to the ground, and the rear end is configured to cooperate with the feed inlet of the ore conveying mechanism (85). The rear end of the collection plate (45) is hinged to the mining frame (1). The collection plate (45) is driven by the collection regulating cylinder. One end of the collection regulating cylinder is hinged to the collection plate (45), and the other end is hinged to the mining frame (1). The collection plate (45) is provided with collection impellers (46) spaced apart on the left and right. The collection impellers (46) are driven by the collection cylinder. The collection cylinder, the collection regulating cylinder, and the mining frame (1) are fixedly connected. The collection cylinder is connected to the mining control system.

9. A ore box-guided mining robot according to claim 7, characterized in that: The ore conveying mechanism (85) includes a first conveying component (48), a second conveying component (49), a third telescopic conveying component (50), a first ore box telescopic conveying component (51), and a second ore box telescopic conveying component (52). One end of the first conveying component (48) is configured to cooperate with the collecting plate (45), and the other end is configured to cooperate with one end of the second conveying component (49). The other end of the second conveying component (49) is provided with the third telescopic conveying component (50) and the first ore box telescopic conveying component (51). The other end of the third telescopic conveying component (50) is provided with the second ore box telescopic conveying component (52). The second conveying component (49) cooperates with the first ore box telescopic conveying component (51) to realize the feeding of the first ore box (2), or the second conveying component (49) cooperates with the third telescopic conveying component (50), and the third telescopic conveying component (50) cooperates with the second ore box telescopic conveying component (52) to realize the feeding of the second ore box (3). The first ore box telescopic conveying component (51) and the second ore box telescopic conveying component (52) are slidably connected to the mining frame (1), and the first ore box telescopic conveying component (51) and the second ore box telescopic conveying component (52) are driven by the conveying drive mechanism (53).

10. A mining operation equipment, comprising an operation vessel (54) and an operation vessel control system, characterized in that: It also includes the ore box-guided mining robot as described in any one of claims 5-9 above, wherein the mining control system is connected to the workboat control system, a robot winch (56) is provided on the deck (55) of the workboat (54), the robot winch (56) is connected to the workboat control system, and the lifting equipment (22) is installed on the workboat (54), and the lifting equipment (22) is connected to the workboat control system.

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