CN-121993207-A - Deep sea low disturbance mining robot

CN121993207ACN 121993207 ACN121993207 ACN 121993207ACN-121993207-A

Abstract

The invention relates to the technical field of deep sea resource development, in particular to a deep sea low disturbance mining robot, which comprises a trunk assembly, a piston type variable buoyancy cabin, a walking foot, a suction mechanical arm and a mineral storage and transportation box, wherein the trunk assembly is arranged on the trunk assembly; the trunk assembly comprises a plurality of mechanical arm bases and a plurality of mounting bases, wherein the mechanical arm bases are symmetrically arranged at the front ends of two sides of the trunk assembly, the mounting bases are symmetrically arranged in the middle of two sides of the trunk assembly, the trunk assembly further comprises a central control system, the central control system is positioned in the center of the top of the trunk assembly, the piston type variable buoyancy tanks are multiple in number and symmetrically arranged at the two sides of the back of the trunk assembly, walking feet are respectively arranged on the corresponding mounting bases, suction and capture mechanical arms are respectively arranged on the corresponding mechanical arm bases, and a mineral storage and transportation box is positioned at a protruding position below the trunk assembly and is connected with the suction and capture mechanical arms through flexible conveying hoses. The invention solves the problems that the deep sea mining equipment is easy to sink in a soft substrate, the sediment disturbance in the collection operation is large and the environment is seriously damaged.

Inventors

ZOU LI
WANG HAO
WANG QINQIN
ZHAO MINGHUI
Zhu Guixun
YU ZONGBING
JIN GUOQING

Assignees

大连理工大学

Dates

Publication Date: 20260508
Application Date: 20260127

Claims (7)

1. The deep sea low disturbance mining robot is characterized by comprising a trunk assembly (1), a piston type variable buoyancy cabin (2), walking feet (3), a suction mechanical arm (4) and a mineral storage and transportation box (5); The trunk assembly (1) comprises a plurality of mechanical arm bases (11) and a plurality of mounting bases (12), wherein the mechanical arm bases (11) are symmetrically arranged at the front ends of two sides of the trunk assembly (1), and the mounting bases (12) are symmetrically arranged in the middle of two sides of the trunk assembly (1); The trunk assembly (1) further comprises a central control system (13), wherein the central control system (13) is positioned at the center of the top of the trunk assembly (1) and is used for receiving multi-source sensing data and generating coordination control instructions; The number of the piston type variable buoyancy cabins (2) is multiple, and the piston type variable buoyancy cabins are symmetrically arranged on two sides of the back of the trunk assembly (1) and are used for adjusting the integral buoyancy of the robot; the walking feet (3) are arranged on the corresponding mounting bases (12); the suction mechanical arm (4) is arranged on a corresponding mechanical arm base (11) and is used for collecting minerals; the mineral storage and transportation box (5) is positioned at a protruding position below the trunk assembly (1) and is connected with the suction and catching mechanical arm (4).
2. Deep sea low disturbance mining robot according to claim 1, characterized in that the trunk assembly (1) body adopts an underwater sealing structure, the trunk assembly (1) further comprises a binocular vision sensor (15), the binocular vision sensor (15) is located at the front end central position of the trunk assembly (1) for acquiring visual information and identifying mineral targets.
3. A deep sea low disturbance mining robot according to claim 1, wherein the piston type variable buoyancy chamber (2) comprises a cylinder (21), a variable volume piston (22), a drive mechanism (23), a sea opening (24) and a sealing end cap (25); One end of the cylinder body (21) is communicated with external sea water through a sea opening (24), and the other end of the cylinder body is closed by a sealing end cover (25); The driving mechanism (23) is arranged inside the cylinder body (21), drives the variable volume piston (22) to reciprocate in the cylinder body (21), and adjusts buoyancy by changing the volume of seawater in the cylinder body.
4. A deep sea low disturbance mining robot according to claim 1, wherein the walking foot (3) comprises a base joint (31), a thigh (32), a knee joint (35), a shank (33) and an anti-trap foot (34) connected in sequence; the base section (31) is hinged with the mounting base (12) and the thigh (32); The knee joint (35) is hinged with the thigh (32) and the shank (33); The anti-sinking foot (34) is positioned at the tail end of the shank (33); The anti-trap foot (34) includes a centrally located load bearing disc (341) and radial anti-trap panels (342) distributed around the disc.
5. A deep sea low disturbance mining robot according to claim 1, wherein the suction catcher robot (4) comprises a multi-link robot arm (41) and a suction catcher (42) at the end; the suction catcher (42) comprises a mechanical claw, and sand filtering holes (421) are distributed on the surface of the mechanical claw; the wrist of the multi-link mechanical arm (41) is provided with a central straw interface (43), and a flexible conveying hose (44) is connected with the central straw interface (43) and the mineral storage and transportation box (5).
6. The deep sea low disturbance mining robot according to claim 1, wherein the mineral storage and transportation box (5) is internally provided with a through-flow sedimentation structure, the flow rate of ore pulp is reduced after the ore pulp enters the box body through a flexible conveying hose (44), the ore is settled at the bottom of the box, and water flow is discharged through a tail discharge port (14).
7. A method of operating a deep sea low disturbance mining robot employing a mining robot according to any one of claims 1-6, comprising the steps of: after the robot enters water, the central control system (13) sends out a submerging command, a driving mechanism in the piston type variable buoyancy cabin (2) works, and pulls the variable volume piston (22) to shrink, so that external seawater enters the cylinder body (21) through the sea opening (24), the drainage volume of the robot is reduced, and the robot is stably submerged in a negative buoyancy state by being matched with an integral counterweight; After reaching the seabed, a binocular vision sensor (15) at the front end is started to scan and identify the seabed topography and mineral distribution, and data is fed back to a central control system (13) to carry out path planning; The walking foot (3) starts to work, the walking foot (3) is lifted and falls alternately, the grounding area is increased by utilizing the bearing disc (341) and the anti-sinking fin plate (342) at the foot end, and the robot stably walks on the soft substrate and approaches to the target mining area; When the target mineral is locked, a multi-link mechanical arm (41) of the suction-catching mechanical arm (4) adjusts the gesture, and a suction-catching hand (42) at the tail end is moved to the position above the mineral; the suction catcher (42) is folded to form a structure enveloping mineral, and the adhered part of sediment naturally leaks out through the sand filtering holes (421) on the claw surfaces; Starting a hydraulic suction device integrated in the trunk, sucking the captured minerals into a flexible conveying hose (44) through a central suction pipe interface (43), and conveying the minerals into a mineral storage and transportation box (5) below the abdomen; the flow speed of ore pulp is reduced after the ore pulp enters the mineral storage and transportation box, heavy ore is settled at the bottom of the box, the carried seawater is discharged from a tail discharge port (14), and the steps of collection and recovery are repeated until the mineral storage and transportation box is full; After the mineral storage and transportation box is filled, the piston type variable buoyancy cabin (2) works reversely to drive the variable volume piston (22) to push out the seawater in the emptying cylinder outwards, so that the drainage volume is increased, the robot obtains positive buoyancy, and the robot floats upwards to the sea surface to recover.

Description

Deep sea low disturbance mining robot Technical Field The invention relates to the technical field of deep sea resource development, in particular to a deep sea low disturbance mining robot. Background The existing submarine mineral collecting equipment has the technical defects of high sinking risk and large operation disturbance. The traditional acquisition robot only moves through a crawler belt or a traveling mechanism such as wheels, the characteristic of uneven hardness of the submarine sediment is not considered, equipment is easy to sink due to overlarge specific pressure in the process of operation, and the operation continuity is affected. The mineral seeds such as polymetallic nodules, phosphorite and the like are commonly scattered on the surface of deep sea sediment with extremely low bearing capacity, and when direct suction type collection is adopted, sediment is easily caused to be resuspended in a large range, so that the working environment is polluted, the visual recognition precision is influenced, and the submarine ecology is possibly damaged. Poor terrain adaptability, insufficient throughput capability under complex submarine topography, unstable equipment posture in the acquisition process, low acquisition success rate and poor operation efficiency. Aiming at the problems in the prior art, the research and design of a novel deep sea low disturbance mining robot is urgently needed, so that the problems in the prior art are overcome. Disclosure of Invention In order to solve the problems in the prior art, the invention provides a deep sea low disturbance mining robot. The invention mainly utilizes the support cooperation of the walking foot and the variable buoyancy cabin and utilizes the suction mechanical arm to combine with the flexible pipeline for conveying, thereby having the effects of preventing equipment from sinking and greatly reducing operation disturbance. The technical scheme adopted by the invention is as follows: a deep sea low disturbance mining robot comprises a trunk assembly, a piston type variable buoyancy cabin, a walking foot, a suction and catching mechanical arm and a mineral storage and transportation box; The trunk assembly comprises a plurality of mechanical arm bases and a plurality of mounting bases, wherein the mechanical arm bases are symmetrically arranged at the front ends of two sides of the trunk assembly, and the mounting bases are symmetrically arranged in the middle of two sides of the trunk assembly; the trunk assembly further comprises a central control system, wherein the central control system is positioned at the center of the top of the trunk assembly and is used for receiving multi-source sensing data and generating coordination control instructions; The number of the piston type variable buoyancy cabins is multiple, and the piston type variable buoyancy cabins are symmetrically arranged on two sides of the back of the trunk assembly and are used for adjusting the overall buoyancy of the robot; the walking feet are arranged on the corresponding mounting bases; The suction mechanical arm is arranged on the corresponding mechanical arm base and is used for collecting minerals; The mineral storage and transportation box is positioned at a protruding position below the trunk assembly and is connected with the suction and catching mechanical arm. Further, the trunk assembly main body adopts an underwater sealing structure, the trunk assembly further comprises a binocular vision sensor, and the binocular vision sensor is positioned at the central position of the front end of the trunk assembly and is used for acquiring visual information and identifying mineral targets. The piston type variable buoyancy cabin comprises a cylinder body, a variable volume piston, a driving mechanism, a sea opening and a sealing end cover, wherein one end of the cylinder body is communicated with external sea water through the sea opening, the other end of the cylinder body is sealed by the sealing end cover, the driving mechanism is arranged in the cylinder body and drives the variable volume piston to reciprocate in the cylinder body, and buoyancy is regulated by changing the sea water volume in the cylinder body. Further, the walking foot comprises a base joint, a thigh, a knee joint, a shank and an anti-sinking foot which are sequentially connected, the base joint is hinged with the mounting base and the thigh, the knee joint is hinged with the thigh and the shank, the anti-sinking foot is positioned at the tail end of the shank, and the anti-sinking foot comprises a bearing disc positioned at the center and radial anti-sinking fin plates distributed around the disc. The suction and catching mechanical arm comprises a multi-link mechanical arm and a suction and catching hand positioned at the tail end, the suction and catching hand comprises a mechanical claw, sand filtering holes are distributed on the surface of the mechanical claw, a central suction pipe inte