PILE LEG WALKING TYPE MINING ROBOT
Disclosed is a pile leg walking type manganese nodule mining robot. The robot includes a body, a pile walking mechanism, a vector propulsive mechanism, a negative pressure suction mechanism and a manganese nodule cutter suction mechanism. The invention involves a stable and efficient deep-sea mining robot which can complete the mining task on the geological layer where the manganese nodule are located, and effectively protects the marine life and living environment in the deep-sea mining area. The existence environment of manganese nodule is also protected. After mining, the regeneration environment of living or other resources on the deep-sea floor will not be affected, thus greatly resolving the sharp contradiction between resource exploitation and environmental protection.
The disclosure relates to the technical field of underwater robots, and more specifically to a pile leg-walking type mining robot.
BACKGROUNDWith the rapid development of global economy and increased consumption of resources, land mineral resources are gradually unable to meet the huge demand of people. Therefore, great potential mineral resources from the sea are paid increasingly attention. Underwater robots, as a tool for mining mineral resources in ocean, have made considerable progresses, but still face many practical issues.
Currently, the existing deep-sea manganese nodule mining robots have difficulty walking on the manganese nodule geological layer. The manganese nodule geological layer is soft featured, the direct-bearing mining robots with the manganese nodule present subsidence during operation. The subsidence of the robots causes difficulty in walking, which will directly affect the working efficiency. On the other, hand, the existing deep-sea manganese nodule mining robots do not consider the protection of the benthic organisms during the mining process, which will lead to numerous deaths or even extinction of deep-sea benthos. In deep-sea environment, manganese nodule will continue to grow. However, after being crushed by the walking track, the structure of the geological layer where the manganese nodule is located may be changed, which affects the growth of manganese nodule and seriously destroys the environment of the seabed. Existing deep-sea manganese nodule mining robots are extremely destructive to the marine environment and cannot achieve a reasonable balance between resource mining and ecological protection.
Therefore, how to provide an underwater robot for deep-sea manganese nodule mining which is basically harmless to the benthic organisms, effective protection of marine environment, also with low energy consumption and high mining efficiency is an urgent issue for those skilled in the alt.
SUMMARYThe present invention provides a pile leg walking type manganese nodule mining robot which is desired to solve the above-mentioned technical problems.
To achieve the above purpose the invention adopts the following technical schemes.
A pile leg walking type manganese nodule mining robot. The robot includes a body, pile walking mechanisms, a vector propulsive mechanism, a negative pressure suction mechanism and a manganese nodule cutter suction mechanism.
The number of the pile walking mechanisms is three. The pile walking mechanisms include multiple drive components and multiple lifting piles. Three drive components are respectively provided on two sides of a middle wall of the body and the center of a tail of the body. The lifting piles and the drive components are respectively connected such that a horizontal or a vertical arrangement is achieved under the driving of the drive components. When the lifting piles are vertically arranged, the drive components drive the lifting piles to move back and forth in vertical and horizontal directions.
The vector propulsive mechanism includes multiple vertical vector propellers and horizontal vector propellers evenly provided around the body;
The negative pressure suction mechanism is provided on the head of the body and configured for suction and transfer of benthic organisms.
The manganese nodule cutter suction mechanism is provided on the head of the body and located between the head of the body and the negative pressure suction mechanism. The manganese nodule cutter suction mechanism is configured to suck manganese nodules.
Through the above-mentioned technical solution, the present invention uses the driving component to drive the lifting pile to realize the walking function, which, can stably and efficiently complete the mining task on the complex manganese nodule geological layer, collect and transfer the benthic organisms through the negative pressure suction mechanism. It can also effectively protect the life and living environment of benthic organisms in the mining area, and the growth environment of manganese nodules are also protected. After mining, it does not affect the re-growth environment of organisms on the seabed or other resources, which greatly resolves the sharp contradiction between the resource mining and environmental protection.
Preferably, the driving component further includes a rotating part, a feeding hydraulic cylinder and a lifting part. The rotating part is connected with the body. The cylinder side wall of the feeding hydraulic cylinder is fixedly connected with a connecting end of the rotating part such that a horizontal or vertical arrangement is achieved under the rotation of the rotating part. The lifting part is connected with an end of a piston rod of the feeding hydraulic cylinder such that the lifting part drives the lifting pile to reciprocate vertically and horizontally. The rotating component provided by the disclosure is a conventional mechanical structure in which a rotating shaft is driven by a motor. The retracting the lifting pile can be realized through the rotation of the rotating component. A retracted state is defined when the lifting pile is rotated to a position parallel to the body. The lifting pile can be rotated to the vertical state when in use, it, is simple and convenient to retract, stable and reliable, and space-saving.
Preferably, the lifting part is provided with a build-in nut driven by power. The outer side of the lifting pile is provided with a screw thread. The screw thread is threadedly connected with the nut. The combination of the lifting component and the lifting pile provided by the disclosure is a conventional ball screw structure. The lifting part includes, a structure that limits the rotation of the lifting pile, and can drive the lifting pile to move up and down under the rotation of the nut. This is a typical structure in the prior art, and will not be explained in details here.
Preferably, the lifting pile is vertically arranged with a bottom end pointedly shaped. It can improve the stability of walking.
Preferably, the number of the vertical vector propeller is four. The four vertical vector propellers are evenly arranged on peripheral side walls of the body, and blades of the four vertical vector propellers are arranged horizontally. The number of the horizontal vector propellers is four. The four horizontal vector propellers are evenly arranged on the bottom wall of the body. Blades of the four horizontal vector propellers are arranged vertically Each vector thruster can rotate within a certain range of vertical or horizontal angles. The direction and thrust of the vector thruster is adjustable. By controlling these eight vector propellers, the position and movement of the mining robot can be changed, so that the mining robot can complete different ways of movement.
Preferably, the negative pressure suction mechanism, includes a negative pressure rotary platform, a negative pressure support arm, a negative pressure support, a biological transfer conveying hose, a flow rate adjustable water pump, a main water pump pipe and a negative pressure pipe. The negative pressure rotary platform is provided on the bottom wall of the head of the body. The negative pressure support arm includes multiple bars, and one end of the negative pressure support arm is hinged with a rotating head of the negative pressure rotary platform. The negative pressure support is hinged with the other end of the negative pressure support arm. The biological transfer conveying hose is connected to the negative pressure support arm with one end opening toward the negative pressure support, and the other end opening toward the tail of the body. The flow rate adjustable water pump is provided on the body. One end of the main water pump pipe is connected with the flow rate adjustable water pump and the other end is connected with an open end of the biological transfer conveying hose toward the negative pressure support. One end of the negative pressure pipe is opened and fixed on the negative pressure support, and the other end is connected with the side wall of the main water pump pipe.
When the flow rate adjustable water pump pumps water to the main water pump pipe, the water in the negative pressure pipe will be sucked into the main water pump pipe due to the high flow rate and low pressure, so that the object will not be mechanically damaged during the flowing of the negative pressure pipe. According to this principle, one end of the negative pressure pipe is connected with a suction head for safely collecting and transferring the benethic organisms. The negative pressure rotary platform can control the rotation of the horizontal plane of the negative pressure support arm to make an arc sweeping, so that the organisms in an arc-shaped area can be transferred at a time with high transfer speed and efficiency. The rotating joint of the negative pressure support arm can adjust the round height position of the negative pressure support to adapt to the complex terrain of the undulating height of the mineral deposit. The negative pressure suction mechanism provided by the invention has multiple degrees of freedom, and the flow rate can be adjusted by the water pump, to ensure that the benthic organisms will not damaged in, the transfer process to the maximum extent. The mechanism can complete the safety and efficient transfer of the benethic organisms during mining process.
Preferably, the manganese nodule cutter suction mechanism includes a rotary platform of cutter suction arm, a cutter suction arm, a cutter suction head, a rotary actuator of cutter suction arm, a driving motor of cutter suction head, a mineral conveying hose, and a manganese nodule transition treatment cabin. The rotary platform of cutter suction arm is provided on the bottom wall of the head of the body. One end of the cutter suction arm is hinged with a rotary head of the rotary platform of cutter suction arm. The cutter suction head is rotatable connected to the other end of the cutter suction arm. The rotary actuator of cutter suction arm is provided on the side wall of the rotary platform of cutter suction arm and is configured to drive the cutter suction arm to rotate in a vertical direction. The driving motor of cutter suction head is provided on the cutter suction arm. A power output end of the driving motor of cutter suction head is fixedly connected to the cutter suction head. The mineral conveying hose is connected to the cutter suction arm with one opening end located below the cutter suction head. The manganese nodule transition treatment tank is provided on the top surface of the body and connected to the other opening end of the mineral conveying hose.
The cutter suction drive motor drives the cutter suction head and loose the manganese nodule geological layer with a certain hardness and viscosity, which changes the hard block into loose shape, so that the mineral pump can absorb and pump. The rotary actuator of cutter suction arm can make the cutter suction arm rotate vertically and make the cutter suction head move up and down to adapt to the ups and downs of the terrain. The cutter suction rotary platform makes the cutter suction arm rotate horizontally, so that the cutter suction head moves laterally to form an arc for absorbing manganese nodules according to the arc area.
Preferably, the robot further includes a buoyancy adjustment mechanism. The buoyancy adjustment mechanism includes a ballast tank provided in an inner part of the body and multiple buoyancy adjustment oil bags provided on the top surface of the body. The buoyancy of ballast tank is adjusted through the water intake and drainage. The Buoyancy adjustment oil bag is adjusted by high-pressure pump to pump the pressure tank out or into the pressure chamber.
Preferably, the robot further includes an environmental detection and sensing mechanism. The environmental detection and sensing mechanism includes an HD underwater camera, a sonar and an ultra-bright underwater lamp provided on the top surface of the head of the body. The ultra-bright underwater lamp provides a good light source for the HD underwater camera, allowing the mining robot to collect visual information. Sonar can be used to detect the amount of manganese nodules in the mining area and provide long-distance environmental information for the preparation of deep-sea mining robot.
Preferably an integrated pipe of umbilical cord cable and mineral hose for integrating lines and conveying minerals is connected at the tail of the body. It can satisfy the unified arrangement and planning of pipelines and lines.
According to the above technical, scheme, compared with the prior art, the present invention discloses a pile leg walking type mining robot, which has the following beneficial effects:
1. The present invention utilizes the driving component to drive the lifting pile, for walking, which can stably and efficiently complete the mining task on the manganese nodule geological layer. The benethic organisms are sucked and transferred by the negative pressure suction mechanism, so as to effectively protect the life and living environment of the benethic organisms in the mining area, and the growth environment of the manganese nodules is also protected, which will not be affected after mining the regeneration environment of living. The contradiction between resources mining on the seabed and environmental protection can be solved.
2. Each vector propeller of the invention can rotate within a certain range of vertical or horizontal angles. The propulsion direction and thrust size of the vector propeller is adjustable, and by controlling the eight vector propellers, the posture and motion form of the mining robot can be changed, so that the mining robots can complete different kinds of movements.
3. The negative pressure suction mechanism provided by the present invention has multiple degrees of freedom, and the flow rate adjustable water pump used can change the flow rate to ensure that the benethic organisms will not hurt during the transfer process to the maximum extent, and the mechanism can complete the safe and efficient transfer of the benethic organisms on complex terrain.
To more clearly describe the technical solution in the embodiments of the present invention or in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be simply presented below. Apparently, the drawings in the following description are merely the embodiments of the present invention, and for those ordinary skilled in the art, other drawings can also be obtained according to the provided drawings without any creative work.
In the drawings:
-
- 1—Body;
- 2—Pile walking mechanism;
- 21—Driving component; 211—Rotating part; 212—Feeding hydraulic cylinder;
- 213—Lifting component; 22—Lifting pile;
- 3—Vector propulsive mechanism;
- 31—Vertical vector propeller; 32—Horizontal vector propeller;
- 4—Negative pressure suction mechanism;
- 41—Negative pressure rotary platform; 42—Negative pressure support arm; 43—Negative pressure support; 44—Biological transfer conveying hose; 45—Flow rate adjustable water pump; 46—Main water pump pipe; 47—Negative pressure pipe;
- 5—Manganese nodule cutter suction mechanism;
- 51—Rotary platform of cutter suction arm; 52—Cutter suction arm; 53—Cutter suction head; 54—Rotary actuator of cutter suction arm; 55—Driving motor of cutter suction head; 56—Mineral conveying hose; 57—Manganese nodule transition treatment cabin;
- 6—Buoyancy adjustment mechanism;
- 61—Ballast tank; 62—Buoyancy adjustment oil bag;
- 7—Environmental detection and sensing mechanism;
- 71—HD underwater camera; 72—Sonar; 73—Ultra-bright underwater lamp;
- 8—Integrated pipe of umbilical cord cable and mineral hose;
- 91—Benthic layer; 92—Manganese nodules geological layer; 93—Diluted soft silt geological layer; 94—Hard soil geological layer.
The technical solution in the embodiments of the present invention will be clearly and fully described below in combination with the drawings in the embodiments of the present invention. Apparently, the described embodiments are merely part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those ordinary skilled in the art without contributing creative labor will belong to the protection scope of the present invention.
Referring to
The robot includes a body 1, a pile walking mechanism 2, a vector propulsive mechanism 3, a negative pressure suction mechanism 4 and a manganese nodule cutter suction mechanism 5.
The number of the pile walking mechanisms 2 is three. The pile walking mechanisms 2 include multiple drive components 21 and multiple lifting piles 22. Three drive components 21 are respectively provided on two sides of a middle wall of the body 1 and the center of a tail of the body 1. The lifting piles 22 and the drive components 21 are respectively connected such that a horizontal or a vertical arrangement is achieved under the driving of the drive components 21. When the lifting piles 22 are vertically arranged, the drive components 21 drive the lifting piles 22 to move back and forth in vertical and horizontal directions.
The vector propulsive mechanism 3 includes multiple vertical vector propellers 31 and horizontal vector propellers 32 evenly provided around the body 1;
The negative pressure suction mechanism 4 is provided on the head of the body 1 and configured for suction and transfer of benthic organisms.
The manganese nodule cutter suction mechanism 5 is provided on the head of the body 1 and located between the head of the body 1 and the negative pressure suction mechanism 5. The manganese nodule cutter suction mechanism 5 is configured to suck manganese nodules.
In order to further optimize the above technical scheme, the driving component 21 further includes a rotating part 211, a feeding hydraulic cylinder 212 and a lifting part 213. The rotating part 211 is connected with the body 1. The cylinder side wall of the feeding hydraulic cylinder 212 is fixedly connected with a connecting end of the rotating part 211 such that a horizontal or vertical arrangement is achieved under the rotation of the rotating part 211. The lifting part 213 is connected with an end of a piston rod of the feeding hydraulic cylinder 212 such that the lifting part 213 drives the lifting pile 22 to reciprocate vertically and horizontally.
In order to further optimize the above technical scheme, the lifting part 213 is provided with a build-in nut driven by power. The outer side of the lifting pile 22 is provided with a screw thread. The screw thread is threadedly connected with the nut.
In order to further optimize the above technical scheme, the lifting pile 22 is vertically arranged with a bottom end pointedly shaped.
In order to further optimize the above technical scheme, the number of the vertical vector propeller 31 is four. The four vertical vector propellers 31 are evenly arranged on peripheral side walls of the body, and blades of the four vertical vector propellers 31 are arranged horizontally. The number of the horizontal vector propellers 32 is four. The four horizontal vector propellers 32 are evenly arranged on the bottom wall of the body. Blades of the four horizontal vector propellers 32 are arranged vertically.
In order to further optimize the above technical scheme, the negative pressure suction mechanism 4 includes a negative pressure rotary platform 41, a negative pressure support arm 42, a negative pressure support 43, a biological transfer conveying hose 44, a flow rate adjustable water pump 45, a main water pump pipe 46 and a negative pressure pipe 47. The negative pressure rotary platform 41 is provided on the bottom wall of the head of the body 1. The negative pressure support arm 42 includes multiple bars, and one end of the negative pressure support arm 42 is hinged with a rotating head of the negative pressure rotary platform 41. The negative pressure support 43 is hinged with the other end of the negative pressure support arm 42. The biological transfer conveying hose 44 is connected to the negative pressure support arm 42 with one end opening toward the negative pressure support 43, and the other end opening toward the tail of the body 1. The flow rate adjustable water pump 45 is provided on the body 1. One end of the main water pump pipe 46 is connected with the flow rate adjustable water pump 45 and the other end is connected with an open end of the biological transfer conveying hose 44 toward the negative pressure support 43. One end of the negative pressure pipe 47 is opened and fixed on the negative pressure support 43, and the other end is connected with the side wall of the main water pump pipe 46.
In order to further optimize the above technical scheme, the manganese nodule cutter suction mechanism 5 includes a rotary platform of cutter suction arm 51, a cutter suction arm 52, a cutter suction head 53, a rotary actuator of cutter suction arm 54, a driving motor of cutter suction head 55, a mineral conveying hose 56 and a manganese nodule transition treatment cabin 57. The rotary platform of cutter suction arm 51 is provided on the bottom wall of the head of the body 1. One end of the cutter suction arm 52 is hinged with a rotary head of the rotary platform of cutter suction arm 51. The cutter suction head 53 is rotatable connected to the other end of the cutter suction arm 52. The rotary actuator of cutter suction arm 54 is provided on the side wall of the rotary platform of cutter suction, arm 51 and is configured to drive the cutter suction arm 52 to rotate in a vertical direction. The driving motor of cutter suction head 55 is provided on the cutter suction arm 52. A power output end of the driving motor of cutter suction head is fixedly connected to the cutter suction head 53. The mineral conveying hose 56 is connected to the cutter suction arm 52 with one opening end located below the cutter suction head 53. The manganese nodule transition treatment tank 57 is provided on the top surface of the body 1 and connected to the other opening end of the mineral conveying hose 56.
In order to further optimize the above technical scheme, the robot further includes a buoyancy adjustment mechanism 6. The buoyancy adjustment mechanism 6 includes a ballast tank 61 provided in an inner part of the body 1 and multiple buoyancy adjustment oil bags 62 provided on the top surface of the body 1.
In order to further optimize the above technical scheme, the robot further includes an environmental detection and sensing mechanism 7. The environmental detection and sensing mechanism 7 includes an HD underwater camera 71, a sonar 72 and an ultra-bright, underwater lamp 73 provided on the top surface of the head of the body 1.
In order to further optimize the above technical scheme, an integrated pipe of umbilical cord cable and mineral hose 8 for integrating lines and conveying minerals is connected at the tail of the body 1.
The working principle of the invention, is as follows:
Before the mining robot arrives at the mining area or evacuates from the mining area, it can, be completed by its own buoyancy adjustment mechanism 6 and vector propulsive mechanism 3 in cooperation with the hanging cable of the working boat. In this process, the negative pressure suction mechanism 4, manganese nodule cutter suction mechanism 5 and pile walking mechanism 2 of the mining robot can be retracted to make them as compact as possible and reduce the resistance, as shown in
During the operation of the mining robots, the negative pressure support 43 always works at a certain distance in front of the cutter suction head 53 to safely transfer the benthic organisms in advance. The cutter suction head 53 and suction head of negative pressure pipe 47 make an arc movement at the head of the mining robot, and move forward through the pile walking mechanism 2. The area swept by this arc movement becomes a region, and the mining is carried out in this manner. The width direction of the range that the cutter suction head 53 can sweep exceeds the width of the mining, robot itself, as shown in
During the operation of the mining robot, the pile walking mechanism 2 replaces the traditional track through lifting pile 22, and such point support excellently protects the deep-sea environment. The feeding hydraulic cylinder 212 can rotate vertically around the body 1 of the mining robots. When the feeding hydraulic cylinder 212 is in the horizontal direction, as shown in
Specifically: the robot has three piles, which is similar to three legs. The lifting component 213 controls the lifting and falling of the lifting pile 22, and the feeding hydraulic cylinder 212 controls the lifting pile 22 to move forward and backward of relative to the mining robot body 1. The lifting pile 22 is firstly raised and suspended under the control of lifting component 213, and then the hydraulic cylinder 213 is fed to retract the piston rod. The lifting pile 22 moves forward for a certain distance relative to the body 1 of the mining robot and stops. Then the lifting component 213 controls the descending of the lifting pile 22 and inserts it into the hard soil geological layer 94. This is one step ahead of the lifting pile 22 and corresponds to the mining robot. At this point, the lifting pile 22 has been advanced by one step relative to the mining robot, which is equivalent to a step forward. When all three lifting piles 22 take a step forward, the three feeding hydraulic cylinders 212 simultaneously extend the piston rods. The movement of the lifting pile 22 is restricted in the hard soil geological layer 94. Therefore, the robot body 1 moves forward with respect to the lifting pile 22, moving forward with respect to the ground, thus completing the walking process.
The system is equipped with three sets of pile walking mechanism 2, which can move horizontally under the control of feeding hydraulic cylinder 212 and coordinate with each other by alternating lifting and retracting to complete the feed movement of mining robot and make it move forward. The forward motion is supported by lifting pile 22, which has a very small rolling area. Three lifting piles 22 can make them stand firmly on the deposit and precisely mine the mine area.
The embodiments in this specification are described in a progressive manner, each of which focuses on differences from other embodiments, with the same similar parts between the embodiments referring to each other only. For the apparatus disclosed in the embodiments, the description is simple as it corresponds to the method disclosed in the embodiments, and the correlation can be explained in the method section.
The above description of the disclosed embodiments enables those skilled in the art to realize or use the present invention. Many modifications to these embodiments will be apparent to those skilled, in the art. The general principle defined herein can be realized in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principle and novel features disclosed herein.
Claims
1. A pile leg walking type mining robot, comprising:
- a body, pile walking mechanisms, a vector propulsive mechanism, a negative pressure suction mechanism and a manganese nodule cutter suction mechanism;
- wherein a number of the pile walking mechanisms is three; the pile walking mechanisms comprise a plurality of drive components and a plurality of lifting piles; three drive components are respectively provided on two sides of a middle wall of the body and the center of a tail of the body; the lifting piles and the drive components are respectively connected such that a horizontal or a vertical arrangement is achieved under the driving of the drive components; when the lifting piles are vertically arranged, the drive components drive the lifting piles to move back and forth in vertical and horizontal directions;
- the vector propulsive mechanism comprises a plurality of vertical vector propellers and horizontal vector propellers evenly provided around the body;
- the negative pressure suction mechanism is provided on the head of the body and configured for suction and transfer of benthic organisms; and
- the manganese nodule cutter suction mechanism is provided on the head of the body and located between the head of the body and the negative pressure suction mechanism; the manganese nodule cutter suction mechanism is configured to suck manganese nodules.
2. The pile leg walking type mining robot of claim 1, wherein the driving component further comprises a rotating part, a feeding hydraulic cylinder and a lifting part; the rotating part is connected with the body; a cylinder side wall of the feeding hydraulic cylinder is fixedly connected with a connecting end of the rotating part such, that a horizontal or Vertical arrangement is achieved under the rotation of the rotating part; and the lifting part, is connected with an end of a piston rod of the feeding hydraulic cylinder such that the lifting part drives the lifting pile to reciprocate vertically and horizontally.
3. The pile leg walking type mining robot of claim 2, wherein the lifting part is provided with a build-in nut driven by power; the outer side of the lifting pile is provided with a screw thread; and the screw thread is threadedly connected with the nut.
4. The pile leg walking type mining robot of claim 1, wherein the lifting pile is vertically arranged with a pointedly shaped bottom end.
5. The pile leg walking type mining robot of claim 1, wherein the number of the vertical vector propeller is four; the four vertical vector propellers are evenly arranged on peripheral side walls of the body, and blades of the four vertical vector propellers are arranged horizontally; the number of the horizontal vector propellers is four; the four horizontal vector propellers are evenly arranged on the bottom wall of the body; and blades of the four horizontal vector propellers are arranged vertically.
6. The pile leg walking type mining robot of claim 1, wherein the negative pressure suction mechanism comprises a negative pressure rotary platform, a negative pressure support arm, a negative pressure support, a biological transfer conveying hose, a flow rate adjustable water pump, a main water pump pipe and a negative pressure pipe; the negative pressure rotary platform is provided on the bottom wall of the head of the body; the negative pressure support arm comprises a plurality of bars, and one end of the negative pressure support arm is hinged with a rotating head of the negative pressure rotary platform; the negative pressure support is hinged with the other end of the negative pressure support arm; the biological transfer conveying hose is connected to the negative pressure support arm with one end opening toward the negative pressure support, and the other end opening toward the tail of the body; the flow rate adjustable water pump is provided on the body; one end of the main water pump pipe is connected with the flow rate adjustable water pump and the other end is connected with an open end of the biological transfer conveying hose toward the negative pressure support; and one end, of the negative pressure pipe is opened and fixed on the negative pressure support, and the other end is connected with the side wall of the main water pump pipe.
7. The pile leg walking type mining robot of claim 1, wherein the manganese nodule cutter suction mechanism, comprises a rotary platform of cutter suction, arm, a cutter suction arm, a cutter suction head, a rotary actuator of cutter suction arm, a driving motor of cutter suction head, a mineral conveying hose, and a manganese nodule transition treatment cabin; the rotary platform of cutter suction arm is provided on the bottom wall of the head of the body; one end of the cutter suction arm is hinged with a rotary head of the rotary platform of cutter suction arm; the cutter suction head is rotatably connected to the other end of the cutter suction arm; the rotary actuator of cutter suction arm is provided on the side wall of the rotary platform of cutter suction arm and is configured to drive the cutter suction arm to rotate in a vertical direction; the driving motor of cutter suction head is provided on the cutter suction arm; a power output end of the driving motor of cutter suction head is fixedly connected to the cutter suction head; the mineral conveying hose is connected to the cutter suction arm with one opening end located below the cutter suction head; and the manganese nodule transition treatment tank is provided on the top surface of the body and connected to the other opening end of the mineral conveying hose.
8. The pile leg walking type mining robot of claim 1, further comprising a buoyancy adjustment mechanism; the buoyancy adjustment mechanism comprises a ballast tank provided in an inner part of the body and a plurality of buoyancy adjustment oil bags provided on the top surface of the body.
9. The pile leg walking type mining robot of claim 1, further comprising an environmental detection and sensing mechanism; the environmental detection and sensing mechanism comprises an HD underwater camera, a sonar and an ultra-bright underwater lamp provided on the top surface of the head of the body.
10. The pile leg walking type mining robot of claim 1, an integrated pipe of umbilical cord cable and mineral hose for integrating lines and conveying minerals is connected at the tail of the body.
Type: Application
Filed: Sep 28, 2020
Publication Date: Jan 14, 2021
Inventors: Guijie LIU (Qingdao), Wei PAN (Qingdao), Dingxin LENG (Qingdao), Yingchun XIE (Qingdao), Xiaojie TIAN (Qingdao), Honghui WANG (Qingdao)
Application Number: 17/033,995
