Ocean current compensation guide connection mechanism of submarine mining vehicle

Abstract

The utility model relates to the technical field of laying and recovery of ocean equipment, and provides an ocean current compensation guide connection mechanism of a submarine mining vehicle, which comprises key components such as an inner sleeve, an outer sleeve, an annular support, a guide connection component, a pressing oil cylinder, a ball joint structure and a slewing mechanism. The inner sleeve is rotationally connected with the bearing of the outer sleeve, so that stable connection with the submarine mining vehicle is realized; and a locking driving oil cylinder and a wedge-shaped locking block are arranged in the guide connection assembly, so that the connection firmness is enhanced. At least four pressing oil cylinders are evenly arranged on the annular support outside the outer sleeve and matched with a ball joint structure, and multi-direction impact caused by ocean current is effectively adapted and compensated. A slewing mechanism between the inner sleeve and the outer sleeve allows the direction of the mining vehicle to be adjusted to resist ocean current influences. Besides, the design of the hanging beam considers the connection and accurate alignment with the steel wire rope, and through the comprehensive design of the whole system, the stability of the submarine mining vehicle in the ocean current is remarkably improved, the energy consumption is reduced, meanwhile, the risk of equipment damage is reduced, and the efficiency and the safety of submarine mining operation are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of deployment and recovery of marine equipment, in particular to a current compensation guide mechanism for a seabed mining vehicle. Background Art

[0002] A seabed mining vehicle is an engineering equipment specially designed for collecting metal nodules, sulfides and other mineral resources on the seabed. It is usually equipped with an optoelectronic composite cable to connect to the mother ship, and is equipped with a grab bucket, a ore suction pipe or a cutting device. In order to provide sufficient stability and strength when operating on the seabed, it is often designed to be heavier, with greater weight and strength.

[0003] Traditional submarine mining cars are connected by armored umbilical cables during deployment and recovery, and the submarine mining cars are deployed and recovered by the umbilical cables. However, due to the large gravity of the submarine mining car, when it passes through the splash zone underwater, the umbilical cable often cannot bear the weight of the submarine mining car, resulting in damage to the umbilical cable. In response to the above problems, some designers in the prior art have proposed a guide mechanism connected to a steel wire rope. After the guide mechanism is connected to the submarine mining car as a whole, the steel wire rope winch is controlled to drive the guide mechanism and the submarine mining car to lift, so that the weight of the submarine mining car can be transferred to the guide mechanism.

[0004] After the existing guide mechanism is docked with the seabed mining car, the stability is poor, causing the heading angle of the mining car to deviate beyond the set range. The heading angle of the seabed mining car refers to the angle between the front end of the mining car and a reference direction, usually the geographic north, when the mining car is operating underwater. The heading angle is crucial for controlling the direction and positioning of the mining car, especially during the long-term deployment and recovery process in deep water. The seabed mining car is often impacted by the current with changing direction and intensity, causing its heading angle to deviate too much, resulting in collision and damage to equipment parts.

[0005] In order to stabilize the heading angle, traditional submarine mining vehicles need to frequently adjust their directions to resist ocean currents or other external forces, such as real-time control and adjustment of thruster thrust to stabilize the heading angle. This not only requires the design of a complete control algorithm, but also leads to increased energy consumption.

[0006] Therefore, it is of vital importance to set up an effective current compensation and guiding mechanism for the seabed mining vehicle to improve the seabed mining vehicle's ability to resist current impact and reduce energy consumption. Summary of the invention

[0007] In order to solve the problems existing in the background technology, the utility model provides a sea current compensation guide mechanism for a seabed mining vehicle, which comprises:

[0008] An inner sleeve and an outer sleeve rotatably connected by a bearing;

[0009] a ring bracket mounted on the outside of the outer jacket;

[0010] A guide assembly installed inside the outer jacket; the seabed mining vehicle is provided with a bearing head, a guide plate is connected below the bearing head, and the bearing head is connected and fixed to the guide assembly by plugging;

[0011] A clamping cylinder is vertically mounted on the annular bracket; the clamping cylinder is fixedly mounted on the outside of the outer sleeve, a clamping plate is mounted at the bottom of the clamping cylinder, and the clamping plate is driven to clamp the guide plate by the expansion and contraction of the clamping cylinder; a ball joint structure is provided at the connection between the clamping cylinder and the clamping plate.

[0012] In a preferred solution, a ball joint bearing is provided at the connection between the annular bracket and the clamping cylinder, the clamping cylinder is installed on the inner ring of the ball joint bearing, and the annular bracket is connected to the outer ring of the ball joint bearing.

[0013] In a preferred solution, at least four pressing oil cylinders are provided, and the pressing oil cylinders are evenly spaced along the annular support.

[0014] In a preferred solution, the ball joint structure includes a support seat connected to the clamping plate and a sphere installed in the support seat, and the end of the clamping cylinder is connected to the sphere.

[0015] In the preferred solution, the inner sleeve is installed in the hanging beam, and a hollow inner sleeve is installed on the hanging beam, and an umbilical cable entrance is opened in the inner sleeve; ears for connecting the wire rope are arranged at both ends of the hanging beam; and a guide column for guiding when connecting with the fixed frame is arranged on the hanging beam.

[0016] In a preferred embodiment, a rotating mechanism is provided between the inner sleeve and the outer sleeve, and the rotating mechanism includes a rotating drive motor fixedly connected to the inner sleeve, and a large gear mounted on the outer sleeve; a small gear meshing with the large gear is mounted on the output shaft of the rotating drive motor.

[0017] In the preferred scheme, the guide assembly includes a locking drive cylinder, a connecting rod, a locking block and a return spring. The locking block is a wedge-shaped structure with a rotating shaft arranged inside. The rotating shaft is connected to the locking drive cylinder through a connecting rod, and the locking drive cylinder drives the locking block to rotate. A return spring is installed between the locking block and the outer sleeve.

[0018] The beneficial effects achieved by the utility model are:

[0019] First, the utility model realizes the stable connection and fixation of the seabed mining vehicle and the guide mechanism through the design of the bearing rotation connection of the inner sleeve and the outer sleeve, the annular bracket, the guide assembly and the vertically installed clamping cylinder. The ball joint structure includes a support seat connected to the clamping plate and a sphere installed in the support seat. The end of the clamping cylinder can be connected to the sphere. At the same time, the ball joint structure at the connection between the clamping cylinder and the clamping plate allows a certain angle of swing to adapt to the changes in the ocean current; at the same time, the annular bracket is connected to the clamping cylinder through a ball joint bearing, the clamping cylinder can be installed on the inner ring of the ball joint bearing, and the annular bracket is connected to the outer ring, so that the clamping cylinder has better angle adaptability when it is extended and retracted, which helps to compensate for the influence of different directions caused by the ocean current.

[0020] Second, the utility model is provided with at least four clamping cylinders, which are evenly spaced along the annular support, which enhances the stability and uniformity of the entire structure, ensures that the guide plate can evenly compensate for the impact of ocean currents in multiple directions, and improves the reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of the utility model Figure 1 ;

[0022] Figure 2 This is a schematic diagram of the overall structure of the utility model Figure 2 ;

[0023] Figure 3 This is a schematic cross-sectional view of the utility model. Figure 1 ;

[0024] Figure 4 This is a schematic cross-sectional view of the utility model. Figure 2 .

[0025] Numbers in the figure:

[0026] 50. Annular bracket; 51. Outer sleeve; 52. Rotating mechanism; 521. Rotating drive motor; 53. Clamping plate; 54. Clamping cylinder; 55. Hanging beam; 551. Guide column; 552. Lifting ear; 56. Inner sleeve; 561. Umbilical cable inlet; 571. Locking drive cylinder; 572. Connecting rod; 573. Locking block; 574. Reset spring; 61. Load-bearing head; 62. Guide plate; 58. Ball joint structure; 59. Ball joint bearing. DETAILED DESCRIPTION

[0027] The technical solution of the utility model will be clearly and completely described below in conjunction with the drawings in the utility model. In addition, the forms of the various structures recorded in the following embodiments are merely illustrative, and the utility model is not limited to the various structures recorded in the following embodiments. All other implementations obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the utility model.

[0028] Reference Figure 1-Figure 4 A current compensation guide mechanism for a seabed mining vehicle, comprising an inner sleeve 56 and an outer sleeve 51 rotatably connected via a bearing; the inner sleeve 56 is installed in a suspension beam 55, on which a hollow inner sleeve 56 is installed, and an umbilical cable entrance 561 is provided in the inner sleeve 56; both ends of the suspension beam 55 are provided with lifting ears 552 for connecting a steel wire rope; the suspension beam 55 is provided with a guide column 551 for guiding when connected to a fixed frame.

[0029] An annular bracket 50 is installed on the outer side of the outer sleeve 51; a ball joint bearing 59 is provided at the connection between the annular bracket 50 and the pressing oil cylinder 54, the pressing oil cylinder 54 is installed on the inner ring of the ball joint bearing 59, and the annular bracket 50 is connected to the outer ring of the ball joint bearing 59. At least four pressing oil cylinders 54 are provided, and the pressing oil cylinders 54 are evenly spaced along the annular bracket 50. A ball joint structure 58 is provided at the connection between the pressing oil cylinder 54 and the pressing plate 53. The ball joint structure 58 includes a support seat connected to the pressing plate 53 and a ball installed in the support seat, and the end of the pressing oil cylinder 54 is connected to the ball.

[0030] The guide assembly is installed inside the outer sleeve 51; the seabed mining vehicle is provided with a bearing head 61, and a guide plate 62 is connected below the bearing head 61. The bearing head 61 is connected and fixed to the guide assembly by plugging; a clamping cylinder 54 is vertically installed on the annular bracket; the clamping cylinder 54 is fixedly installed outside the outer sleeve 51, and a clamping plate 53 is installed at the bottom of the clamping cylinder 54. The clamping plate 53 is driven to clamp the guide plate 62 by the expansion and contraction of the clamping cylinder 54. The guide assembly includes a locking drive cylinder 571, a connecting rod 572, a locking block 573 and a reset spring 574. The locking block 573 is a wedge-shaped structure, and a rotating shaft is arranged inside it; the rotating shaft is connected to the locking drive cylinder 571 through the connecting rod 572, and the locking drive cylinder 571 drives the locking block 573 to rotate; a reset spring 574 is installed between the locking block 573 and the outer sleeve 51.

[0031] A rotating mechanism 52 is arranged between the inner sleeve 56 and the outer sleeve 51, and the rotating mechanism 52 includes a rotating drive motor 521 fixedly connected to the inner sleeve 56, and a large gear installed on the outer sleeve 51; a small gear meshing with the large gear is installed on the output shaft of the rotating drive motor 521.

[0032] In the utility model, the connection between the seabed mining vehicle and the guide mechanism is realized by a bearing head 61 and a guide plate 62, wherein the bearing head 61 is located above the mining vehicle and is tightly connected to the guide assembly by plugging. The guide assembly includes a locking drive cylinder 571, a connecting rod 572, a locking block 573 and a reset spring 574, wherein the locking block 573 is a wedge-shaped structure with a rotating shaft arranged therein, and the locking drive cylinder 571 drives the locking block 573 to rotate, and such a locking mechanism further enhances the stability of the connection. The guide assembly is located inside the outer sleeve 51 and cooperates with the guide plate 62 of the mining vehicle to ensure a stable connection between the two. In order to enhance the firmness of this connection, the clamping cylinder 54 is vertically mounted on the annular bracket 50, and a clamping plate 53 is equipped at the bottom thereof, and the guide plate 62 is clamped by the telescopic action of the cylinder.

[0033] The process of implementing the two-way locking is as follows: after the bearing head 61 contacts the wedge-shaped structure of the locking block 573 by plugging, the locking block 573 is pushed to rotate and open. After the bearing head 61 is further plugged through the locking block 573, the locking block 573 is reset under the action of the spring, and the locking drive cylinder 571 and the connecting rod 572 lock the bearing head 61, thereby locking the bearing head 61 in the downward direction. The clamping cylinder 54 is fixedly installed on the outside of the outer sleeve 51, and a clamping plate 53 is installed at the bottom. The clamping cylinder 54 is extended and retracted to drive the clamping plate 53 to clamp or release the guide plate 62, thereby locking the guide plate 62 in the upward direction.

[0034] Taking into account the changes in the ocean currents in the marine environment, at least four clamping cylinders 54 are provided and are evenly spaced along the annular bracket 50. Such a design enables the guide plate 62 to evenly compensate for the impact of the ocean current in multiple directions, thereby improving the reliability of the system. The utility model specially designs a ball joint structure 58, which is located at the connection between the clamping cylinder 54 and the clamping plate 53, allowing the mining vehicle to swing at a certain angle due to the influence of the ocean current, thereby offsetting some of the impacts in different directions caused by the ocean current. In addition, the connection between the annular bracket 50 and the clamping cylinder 54 adopts a ball joint bearing 59, which further improves the degree of offsetting the impact, so that the entire structure can better compensate for the influence of the ocean current.

[0035] The connection between the inner sleeve 56 and the outer sleeve 51 is achieved by a rotational connection through a bearing, which allows the inner sleeve 56 and the outer sleeve 51 to rotate relative to each other, meeting the requirement that the seabed mining vehicle needs to adjust the direction of the mining vehicle. This can be achieved through a slewing mechanism 52 between the inner sleeve 56 and the outer sleeve 51, which is composed of a slewing drive motor 521 fixedly connected to the inner sleeve 56 and a large gear installed on the outer sleeve 51, and the direction adjustment is achieved by the engagement of a small gear on the output shaft of the motor with the large gear.

[0036] The design of the hanging beam 55 takes into account the connection with the wire rope, and is equipped with a hollow inner sleeve 56 and an umbilical cable inlet 561, with lifting ears 552 at both ends. The hanging beam 55 is also equipped with a guide column 551 to ensure accurate alignment when connected with the fixed frame. The design of the entire guide mechanism comprehensively considers the compensation of the sea current, allowing the seabed mining vehicle to remain stable under the action of the sea current, reducing the deviation of the heading angle, thereby reducing the risk of equipment damage caused by the sea current, and improving the safety and efficiency of the seabed mining operation.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A sea current compensation guide mechanism for a seabed mining vehicle, characterized in that: It includes: An inner sleeve and an outer sleeve rotatably connected by a bearing; a ring bracket mounted on the outside of the outer jacket; A guide assembly installed inside the outer jacket; the seabed mining vehicle is provided with a bearing head, a guide plate is connected below the bearing head, and the bearing head is connected and fixed to the guide assembly by plugging; A clamping cylinder is vertically mounted on the annular bracket; the clamping cylinder is fixedly mounted on the outside of the outer sleeve, a clamping plate is mounted at the bottom of the clamping cylinder, and the clamping plate is driven to clamp the guide plate by the expansion and contraction of the clamping cylinder; a ball joint structure is provided at the connection between the clamping cylinder and the clamping plate.

2. The current compensation guide mechanism for a seabed mining vehicle according to claim 1, characterized in that: A ball joint bearing is arranged at the connection between the annular bracket and the pressing oil cylinder. The pressing oil cylinder is installed on the inner ring of the ball joint bearing, and the annular bracket is connected to the outer ring of the ball joint bearing.

3. The current compensation guide mechanism for a seabed mining vehicle according to claim 1, characterized in that: At least four clamping oil cylinders are arranged, and the clamping oil cylinders are evenly spaced along the annular support.

4. The current compensation guide mechanism for a seabed mining vehicle according to claim 1, characterized in that: The ball joint structure comprises a support seat connected to the clamping plate and a sphere installed in the support seat, and the end of the clamping oil cylinder is connected to the sphere.

5. The current compensation guide mechanism for a seabed mining vehicle according to claim 1, characterized in that: The inner sleeve is installed in the hanging beam, and a hollow inner sleeve is installed on the hanging beam, and an umbilical cable entrance is opened in the inner sleeve; ears for connecting the wire rope are arranged at both ends of the hanging beam; and a guide column for guiding when connecting with the fixed frame is arranged on the hanging beam.

6. The current compensation guide mechanism for a seabed mining vehicle according to claim 1, characterized in that: A rotary mechanism is arranged between the inner sleeve and the outer sleeve, and the rotary mechanism comprises a rotary drive motor fixedly connected to the inner sleeve and a large gear mounted on the outer sleeve; a small gear meshing with the large gear is mounted on the output shaft of the rotary drive motor.

7. The current compensation guide mechanism for a seabed mining vehicle according to claim 1, characterized in that: The guide assembly includes a locking drive cylinder, a connecting rod, a locking block and a return spring. The locking block is a wedge-shaped structure with a rotating shaft arranged inside. The rotating shaft is connected to the locking drive cylinder through a connecting rod, and the locking drive cylinder drives the locking block to rotate. A return spring is installed between the locking block and the outer sleeve.

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